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abeachy_HG24 Handy

Username abeachy_HG24
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Invited byAmanda_Lee
Industry Manufacturing
Country US - United States
Company (optional) Hydro-Gear
Posts
78
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5
  • Re: Switch Command

    Depending on how you want your program to function there's a couple ways to do it. In the example @student gave, the operator will be asked for a number and then based on that number it will run everything in that specific case. If you wanted the robot to go from case to case to all the way through the switch you would want to do something along these lines:

    Robot program

    option = 1
    Switch option
      Case 1
         do something
         option=2
      Case 2
         do something
         option=3
      Case 3
         do something
         option=4
    I use this approach to control the flow of my programs easily. If you were in case one and based off of a certain condition that was met during that case, you could use an if-statement to make the decision on which case to run next. Lets say case 1 is trying to pick a part from a specific location and based on if the robot found the part or not determines what case you want the robot to go next.
    if part_found= True 
        option=2
    if part_found= False
       option=3
    I hope that makes sense and helps out.

  • Re: Moving plane feature like in CNC-machining

    @matthewd92 @Puolikas ;Whenever one of you gets a chance, could you post a sample of how you would program this? I had a few free moments this morning and I was attempting to do this but I was unsuccessful. Not urgent or anything, just curious. Thanks.
  • Re: Move based on feature

    Okay, that makes sense now. Thanks!
  • Re: UR update bug

    @etienne_samson In this situation I hadn't copy and pasted any of the pallet wizard stuff. It was just completely random. It seems really odd to me have it was off, but it was only some of the points in that robot and not all. Thanks, I appreciate that. 

    @matthewd92 I never saw that bug. These two things are the only things that I have seen that could possibly be bugs. Otherwise the software update has been working great. 

    We've been in touch with UR concerning these two things and they don't seem to have any answers yet. Just thought I would take a shot and see if anyone else was having weird or random bugs like this. If I find out any new information, I'll be sure to pass it along to everyone. 
  • Re: Object Detection: An Important Feature

    @C_ROEHl I have found a way that has been very successful for me. I create a variable called i_correct_part, I will then place inside of the loop the pallet wizard. The loop will continue to execute as long as the i_correct_part variable does not equal 1. Whenever the robot finds the part I set that variable equal to 1 and the robot goes on to the next step in the process. If the robot does not find a part it will continue on to your next location in the sequence.
    Here is an example of one of my pallet wizards.

    Robot Program
         51100 Nest(folder)
           Loop i_correct_part≠1
             Pallet
               Pattern: List
                 S_1
                 S_2
                 S_3
                 S_4
                 S_5
                 S_6
                 S_7
                 S_8
                 S_9
                 S_10
                 S_11
                 S_12
               PalletSequence
                 Pounce_2
                 Gripper Move65% (1)
                 Pick_2
                 Gripper Close (1)
                 RQ_pos≔rq_current_pos()
                 If RQ_pos≥193 and RQ_pos≤195
                   Correct part
                     Picked_1
                     i_correct_part≔1
                 ElseIf RQ_pos≥228 and RQ_pos≤230
                   Missing part
                     Up_2
                     Gripper Move65% (1)
                     51100 Status
                       Set i_no_or_bad_par=i_no_or_bad_par+1
                       Set C_M_part_51100=C_M_part_51100+1
                       If i_no_or_bad_par≥2
                         Popup
                 Else
                   Wrong part
                     Up_3
                     MoveL
                       Trvl_to_SPB
                       In_SPB
                       Out_of_SPB
                       Trvl_back
                       51100 Status
                         Set i_no_or_bad_par=i_no_or_bad_par+1
                         Set C_W_part_51100=C_W_part_51100+1
                         If i_no_or_bad_par≥2
                           Popup
    In this pallet wizard I used the list feature of the pallet wizard. In order for the robot to exit the loop the if statement must be met and then the variable is assigned 1 and the loop is complete. The else-if and the else are for missing and wrong parts. If it finds a wrong part or the part is incorrect, it will try twice before alerting the operator with a popup.

    It is important to note that before you enter this loop to always be sure the variable you are using gets assigned a value other than 1. If it doesn't the loop will never execute.

    I hope this helps!