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operezoperez Posts: 3 Apprentice
Hi Guys,

We have an UR10 e-series with the force pilot installed. Is it possible to use the spiral search command but instead of using teach target position, to use a predefined variable position?

Thanks 

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  • David_GouffeDavid_Gouffe Posts: 17Vacuum Beta tester Apprentice
    Hi, 

    The brief answer is Yes, it is possible. 

    You need to call the Spiral Search using a script function replacing the target position by the predefined variable position. 
    I will build an example and come back to you with it. 

    Regards, 

    David Gouffé

    Integration Coach

    Coach en intégration

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  • operezoperez Posts: 3 Apprentice
    Thanks 
  • David_GouffeDavid_Gouffe Posts: 17Vacuum Beta tester Apprentice
    Hi, 

    You simply need to call scripts to replace the usual node of the spiral insertion:

    ---- Code ----
         rq_ins_speed_setting = 0.0050
         max_distance2≔pose_dist(p[0,0,0,0,0,0],get_actual_tcp_pose())
         rq_insert_spiral_urcap("z+", 3, 5, 0.7, peck_mode = False, tangential_speed = 0.0050) 
    ---- /Code ----

    p[0,0,0,0,0,0] is the target position, you can replace it with the position variable. 
    Inside rq_insert_spiral_urcap( ) are the parameters of the spiral search. 

    Similar work can be done with each insertion commands. The trick is to get a look at the file *.script of a basic program using the node and reuse the variables and commands. 

    Hope this helps. 

    Regards, 

    David Gouffé

    Integration Coach

    Coach en intégration


    Robotiq is now into packaging, palletizing and sanding applications. Learn more about our new Vacuum Grippers and the Robotiq Sanding Kit.


    1-888-ROBOTIQ #275 (762-6847)

    1-418-380-2788 #275 (Outside US and Canada)

    1-418-655-9221 (Cell)

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  • David_GouffeDavid_Gouffe Posts: 17Vacuum Beta tester Apprentice
    Hi, 

    Just in case you want to look into the program.

    Here it is:

    Regards, 

    David Gouffé

    Integration Coach

    Coach en intégration


    Robotiq is now into packaging, palletizing and sanding applications. Learn more about our new Vacuum Grippers and the Robotiq Sanding Kit.


    1-888-ROBOTIQ #275 (762-6847)

    1-418-380-2788 #275 (Outside US and Canada)

    1-418-655-9221 (Cell)

    Follow us on

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  • operezoperez Posts: 3 Apprentice
    I'll check.

    I appreciate the time you put into this matter.

    Thanks
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