Force/Position Data acquisition

jj3564

Me and my team just purchased the finishing co-piloting license and we were wondering how we can acquire the force data. The program we are running is a simple picking up and placing program and we are able to receive the data for the date and time the placing of the object was done (using the scan code function). 

We want to retrieve the data for the force the object was placed with and position of the placed object as well. We were hoping the finishing co-piloting license would allow us to retrieve accurate data for force and position. How should we go about this?

PaulGWF

Hello JJ3564 !

It is possible for you to read the data of the sensor using the following functions (described in the user manual of the copilot, page 42) : 

Let me know if this helps.

Best regards.

Paul​

jj3564

Would the get_sensor_Mx() give us the position of the TCP (object) ?  And get_sensor_Fx() gives us the Force that was sensed?

Thanks,

PaulGWF

Dear JJ3564,

Mx is the torque around the X axis, and Fx is the force on the X axis. Same goes for y and z measurements.
I suggest you take a look at UR’s manual on their script function, this way you will find the function that will give you the current TCP position.
Here are the links to their latest documentation.
CB-Series : https://www.universal-robots.com/download/manuals-cb-series/script/script-manual-cb-series-sw315/
E-Series : https://www.universal-robots.com/download/manuals-e-series/script/script-manual-e-series-sw-511/

Best regards

Paul

jj3564

Thank you !