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matthewd92

March 8

Re: C192A20 SPI output error

Yes you should be able to swap the boards. Is the 48v power supply working? We’ve had those fail before in one or two instances.

bcastets

March 7

How to actuate gripper without stopping robot motion ?

If you place a gripper node inside a continuous move with bending radius, the motion will stop on the gripper node and it may trigger robot safety. The easiest way is to place gripper node before or after robot move to avoid the problem. However sometime you may like to control the gripper inside the move where you know you can actuate the gripper without any possible collision. How to actuate gripper without stopping robot motion ? I would like to share with you a sample program which is using a stread: * to execute a gripper command on a waypoint inside a continuous move * to stop the robot motion on a waypoint and wait for the gripper complete its action before moving to the next point Here below is the video of the sample program: Program details: gripActPos: Waypoint where the gripper action is performed gripWaitPos: Waypoint where the robot wait for the gripper action to complete If actPosDist < 0.05 : if the distance is between the TCP and gripActPos is less than 0.05m the gripper action start. You can change this distance. Make sure it is more than your turning radius. Elseif waitPosDist < 0.15 : if the distance is between the TCP and gripWaitPos is less than 0.15m and if the gripper action is not completed the robot speed is set to almost 1%. You can change distance and robot speed. Make sure it is more than your turning radius.

Guillaume_Charron

March 5

Re: Find surface - error - UCS 1.9.0

@dgr Thanks for reporting this issue. We will work on this and make sure that it's solved within the next Force Copilot URCap version.

bcastets

February 28

Re: Destacking using Force sensor on UR5e

I made a video for UR unstacking function. Check the comments below the video get details about the programming. The program can be downloaded here: https://robotiq.egnyte.com/fl/2LQfxpoVCU UR polyscope come with unstack wizard called "Seek". This function is documented in UR software manual (14.26 Command: Seek). With this function it is possible to find the position of the part to unstack using for example the force sensor of the robot. You can provide force sensing to your robot using a Robotiq FT300 or Copilote software. Program description: --------------------------------- A variable named "count" give the number of parts to unstack. It is updated everytime a part is unstacked. Before entering into the "destack node": *The robot goes to a secure position above the unstacking area ("unstacking_entry"). *The gripper is closed to use the fingers to find the surface of the part to unstack. *The zero of the force sensor is made to detect surface with good accuracy. Setup of the "destack" node: *"The next position is found when" the force detected by the force sensor is less than -10N. *The item thickness is input. I would recommand to use a thickness a bit smaller than the real part. *Check "Sequence after end" to add instruction to stop the program when the unstacking is completed. The "StartPos" is place few mm above the first part to unstack. The robot will dive from this position until it find the fisrt part to unstack. Setup "destack" node Direction: *The condition use to stop searching for new part to unstack is when there is no part in the stack (count=0). *FromPos and ToPos position are used to calculate the direction of the stack. Those points can be anywhere as fare as the direction between them is same as the stack. Setup "destack" node unstacking process: *StartPos is the pose where is located the robot when it found the part. This position is just on the surface of the first part to unstack. *From StartPos, the robot moves out of the part, opens the gripper, goes down to have the part between its fingers, close the gripper to pick the part and move out of the stack. *The number of part is the stack is updated. *The part is placed on the table using UR palet wizard. Setup "destack" "after end": The "after end" section is executed when the unstacking is completed (count=0). In this program a Halt command is used to stop program execution.

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