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bcastetsbcastets Vacuum Beta tester Posts: 503 Expert
I would like to share with you a concept program to do dispensing with wrist camera.



This concept is inspired of 2 related DoF articles:

This program structure solves 3 common problems face with dispensing application:

1-The position of the profile on which the robot have to do dispensing may vary. The robot have to be capable to do dispensing whatever the position of the profile.

We will use the Robotiq Wrist Camera to solve this problem.

2-The dispensing trajectory have to be easy to edit. It may happen that after you complete your first program you need to adjust some waypoints. It is necessary to have an easy way to do those adjustments.

3-The dispensing tool attached to the robot often comes with a lot of surrounding equipment like pipes supplying dispensing material. This equipment impose some motion restriction to the robot. To avoid any problem, the robot should as much as possible keep the same tool orientation.


The keep the same tool orientation, the z orientation of the TCP is adjusted to compensate the z rotation of the waypoints.

This TCP adjustment is done just before the relative trajectory.



Comments

  • bcastetsbcastets Vacuum Beta tester Posts: 503 Expert
  • bcastetsbcastets Vacuum Beta tester Posts: 503 Expert
    On detail. It is important to set you TCP at the glue dispensing point.
    The Z axis of the dispensing tool should be vertical during dispensing with the axis point down.
    There are 2 set nodes where you need to set your TCP.

    Here below are the settings I use for this concept.




  • bcastetsbcastets Vacuum Beta tester Posts: 503 Expert
    edited February 8
    All relative moves are using "active TCP".

  • adubanaduban Posts: 5 Apprentice
    If my TCP is changing each time the code is run (I use a TCP detect method for the syringe), is there any additional code I need to add to this? Your method worked for me until I added a set tcp command within the code.
  • bcastetsbcastets Vacuum Beta tester Posts: 503 Expert
    @aduban
    Un your case, you have to save the TCP you calculated in a variable. Keep this variable as a reference.
    Let say that you name this variable: myTCP

    Replace the Set command by the following script command:
    set_tcp(myTCP)
    I should work.
  • adubanaduban Posts: 5 Apprentice

    Thank you. What about rTrajectoryRef feature point? I am using your easy to edit relative programming article (https://dof.robotiq.com/discussion/2296/camera-easy-to-edit-relative-trajectory-with-robotiq-wrist-camera#latest)

    and when I initially set rTrajectoryRef under the master setup folder, I am setting it with a certain TCP, but if my TCP is changing, don't I also need to change this reference point feature to reflect the changing TCP?


    Thanks!

  • bcastetsbcastets Vacuum Beta tester Posts: 503 Expert
    @aduban
    What is important is that you use the same TCP when you initially set rTrajectoryRef under the master setup folder and when you set relative waypoints.
    After that if the TCP change that should not be an issue.

    Why to you need to change your TCP on each program execution ?
  • bcastetsbcastets Vacuum Beta tester Posts: 503 Expert
    I found that there is a necessary modification to do in my program in the position where is applied the Z offset correction of the TCP to keep same orientation.

    In my first program I directly edit the Z rotation of the TCP but this works only if the Z axis of the TCP is same as the flange Z axis. I heard about cases where the dispensing tool Z axis is not identical to flange Z axis.



    Something could also be improved with the toolORef waypoint which is use as a tool orientation reference. This point is place in a moveJ in the before start program but there is not need to move the robot at this point in the before start. It make more sense to use a feature point instead.





    I attach the updated version of the program to this post.


  • bcastetsbcastets Vacuum Beta tester Posts: 503 Expert
    I found that there is a necessary modification to do in my program in the position where is applied the Z offset correction of the TCP to keep same orientation.

    In my first program I directly edit the Z rotation of the TCP but this works only if the Z axis of the TCP is same as the flange Z axis. I heard about cases where the dispensing tool Z axis is not identical to flange Z axis.



    Something could also be improved with the toolORef waypoint which is use as a tool orientation reference. This point is place in a moveJ in the before start program but there is not need to move the robot at this point in the before start. It make more sense to use a feature point instead.








  • bcastetsbcastets Vacuum Beta tester Posts: 503 Expert
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