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matthewd92

Re: Connecting Robot and Machine Emergency Stops

Safety requires dual inputs/outputs to be compliant, so if you are only supplying one of the circuits you will have errors on the robot. You can also wire the machines e-stop to the E0 and E1 blocks that are to the far left of the IO blocks, this leaves two configurable inputs free to be used as regular inputs. But you must provide both E1 and E0 and they cannot be tied together, meaning you cant just jumper the two circuits together. When you look at E1 and E0 you will see they have independent jumpers from the factory in them.

matthewd92

Re: Changing Keyboard Configuration

Check out this article from the UR support site. https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/changing-the-console-keyboard-layout-16421/

matthewd92

Re: Cobot cycle times

We had two robots in a cell, one was picking parts from a vibratory feeder table and placing in a chute, the second was using vision to find a hole in the part and then place them onto the tooling. The robot picking them from the table averaged a 3 second pick to pick, the robot placing the parts averaged 3.2 seconds place to place. We have a cell feeding a punch press, we run just under 5 seconds cycle time (get part from feeder, load die, pull pressed part out and place on outbound conveyor) and the press has a 800-1000 ms cycle time so we run somewhere between 5.6 to 5.8 seconds per part, 20+ hours per day. We have a number of cells that run in the 6-11 second range per part. One of them that processes 4 parts every 42 seconds has produced parts for 23.9 hours in a single day. It generally puts in 140-150 hours a week, usually only going down when the injection mold is not running. I’m that time it picks the part up, uses a labeling machine to accurately apply a label and packages the part for shipment to the OEM. These are just just a few examples of cells we have at customer sites.

matthewd92

Re: Connecting a Scale to a UR10e

I have never connected a scale but if you want to use Ethernet IP for anything you will need a PLC to connect to the robot for communication unless you get a scale that acts as the scanner as the robot only provides an adapter. You could look for a scale that uses Modbus TCP as this is native to the robot or TCP/IP ethernet communication which the robot can support through script functions. Another option is a scale like this which has a 4-20 mA anlaog output which the robot could receive as well, then you just need to convert the analog signal to the actual recorded weight with a math function and then you would have an easy to use scale.

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