Re: Triggering an emergency stop from URSim.
protective_stop()
Best Of
Re: How to turn off fieldbus inputs
Hello ladd,
To turn off fieldbus you need to go to installation tab and disable EthernetIP or Profinet (depending which one was running).
To turn off fieldbus you need to go to installation tab and disable EthernetIP or Profinet (depending which one was running).
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:
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.
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
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.
Re: How to actuate gripper without stopping robot motion ?
Re: C192A20 SPI output error
Yes 48v is ok. After checking connections again found terminal loose on jumper
On power
Thanks for the reply
On power
Thanks for the reply
Re: Tool and charge weight
@brsystemes If you are programming on a UR, the set node used in a program to modify the payload must include both the tool and the load.
Re: How to feed the F/T sensor data into UR'S force control-loops (Force mode).
Hi, I'm currently trying to implement this on our system. I'm fairly new
to the UR ecosystem so this may be a dumb question but I'm not seeing
how to actually pipe the FT sensor readings into the system. I'm
currently using the RTDE interface so I know the basics of how that
works. I understand that "enable_external_ft_sensor" enables using an external sensor but where do you actually override the internal FT estimates with the sensor readings for
use in force control mode?
Re: Rx Ry Rz in UR 10
Which view mode are you in? If you are in base or view you are seeing the tcp pose relative to that view coordinate system. So even if you are only rotating around a single tool axis you will potentially see all three rotations change as the tool is moving relative to all three coordinates in the view frame of reference.
Re: modbus communication
@Franky welcome to the community. A couple of thoughts come to mind as these are issues we've had in the past.
First, are you using discrete output bit or a byte register for the output? If you're using a register are you setting it to the correct byte for the output you want to turn on?
In either case is the address for the bit or the byte correct. I've never used the Siemens system but I know some units use the same addressing for inputs and outputs and some use diffferent ranges. We used a system a few years ago where discrete inputs were between 0 and 511 and discrete output addresses were 512-1023. Until we figured that out it wouldn't work. It was the same with the register values as well.
First, are you using discrete output bit or a byte register for the output? If you're using a register are you setting it to the correct byte for the output you want to turn on?
In either case is the address for the bit or the byte correct. I've never used the Siemens system but I know some units use the same addressing for inputs and outputs and some use diffferent ranges. We used a system a few years ago where discrete inputs were between 0 and 511 and discrete output addresses were 512-1023. Until we figured that out it wouldn't work. It was the same with the register values as well.
Re: Destacking in a pallet
I added the variable position right after the "Approach_1 in the pallet. This added a loop with the destacking until it is finished. I have added two picture of my program to help.
