Spiral search with variable target position

operez

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 

David_Gouffe

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

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operez

Thanks 

David_Gouffe

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_Gouffe

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

    

Visit us:    

operez

I'll check.

I appreciate the time you put into this matter.

Thanks