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Etienne_Samson
Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 418 Handy
Pick & Place with Insertion in Jig |
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/ Most recent by Tyler_Berryman |
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Etienne_Samson
Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 418 Handy
Challenge with increased difficulty: Pick & Place with insertion in jig
Provided material :
Hint: Use the sensor signal to guide the jig insertion.
Good luck!
Provided material :
- Multiple PCBs
- PCB test jig
Hint: Use the sensor signal to guide the jig insertion.
Good luck!
Etienne Samson
Technical Support Director
+1 418-380-2788 ext. 207
[email protected]
[email protected]
After a million iterations, Task 2 complete!
Code
Program Init Variables BeforeStart Script: accessor_capt.script socket_close("stream") socket_open("127.0.0.1",63351,"stream") var_2≔get_actual_tcp_pose() MoveJ var_2 Robot Program Loop 'Write robot program here.' Call SubP_team_3_x_t Wait: 0.01 Thread_1 sensor_data≔socket_read_ascii_float(6,"stream") If sensor_data[0] ≥6 Fx≔sensor_data[1] Fy≔sensor_data[2] Fz≔sensor_data[3] Mx≔sensor_data[4] My≔sensor_data[5] Mz≔sensor_data[6] Else Fx≔0.0 Fy≔0.0 Fz≔0.0 Mx≔0.0 My≔0.0 Mz≔0.0 SubP_rq_set_zero rq_set_zero() SubP_rq_print_firmware_version rq_print_firmware_version() SubP_rq_print_prod_year rq_print_prod_year() SubP_rq_print_serial_number rq_print_serial_number() SubP_rq_print_version rq_get_version() SubP_team_3_x_t MoveJ Waypoint_1 Gripper Open Camera Locate MoveL Waypoint_2 Waypoint_3 Gripper Close Waypoint_2 MoveJ Waypoint_5 Pallet Pattern: Line StartPos_1 EndPos_1 PalletSequence Approach_1 PatternPoint_1 Wait: 1.0 Loop Fz>-3 Waypoint_4 Waypoint_7 'Waypoint_6' 'If My>10' Loop Mx>-.5 Waypoint_6 sync() 'Waypoint_7' 'Waypoint_8' Gripper Open MoveJ Waypoint_9Ryan Weaver | Automation Engineer | Axis New England
[email protected]
https://www.youtube.com/user/AxisNewEngland
https://twitter.com/axis_newengland
Challenge 2 complete:
Code
Program Init Variables BeforeStart Script: accessor_capt.script socket_close("stream") socket_open("127.0.0.1",63351,"stream") Robot Program MoveJ Gripper Move 52% Waypoint_1 Camera Locate MoveL app pick Gripper Move 72% app MoveL Waypoint_3 Pallet Pattern: Line StartPos_1 EndPos_1 PalletSequence Waypoint_4 Approach_1 'PatternPoint_1' Loop norm(Mx)<0.5 var_1≔get_actual_tcp_pose() var_2≔pose_add(var_1,p[-0.0005,0,0,0,0,0]) var_2 Loop norm(Fz)<10 var_3≔pose_trans(get_actual_tcp_pose(),p[0,0,0,0.01,0,0]) var_3 Gripper Move 52% Exit_1 MoveJ Waypoint_3 Thread_1 sensor_data≔socket_read_ascii_float(6,"stream") If sensor_data[0] ≥6 Fx≔sensor_data[1] Fy≔sensor_data[2] Fz≔sensor_data[3] Mx≔sensor_data[4] My≔sensor_data[5] Mz≔sensor_data[6] Else Fx≔0.0 Fy≔0.0 Fz≔0.0 Mx≔0.0 My≔0.0 Mz≔0.0 SubP_rq_set_zero rq_set_zero() SubP_rq_print_firmware_version rq_print_firmware_version() SubP_rq_print_prod_year rq_print_prod_year() SubP_rq_print_serial_number rq_print_serial_number() SubP_rq_print_version rq_get_version()Code
Program Init Variables BeforeStart Script: accessor_capt.script socket_close("stream") socket_open("127.0.0.1",63351,"stream") Gripper Open Maxim≔0.5 Robot Program Loop 5 times 'Write robot program here.' Wait: 0.01 Call SubP_chalenge2 'Switch Loop_1' 'var_1≔...' SubP_chalenge2 Folder MoveJ Gripper Open Waypoint_2 Camera Locate MoveL Waypoint_3 Waypoint_1 Gripper Close Waypoint_4 Switch Loop_1 Case 0 MoveJ pos_1 If norm([Mx])<Maxim MoveL approach_1 Gripper Open Exit_1 Case 1 MoveJ pos_2 If norm([Mx])<Maxim MoveL approach_2 Gripper Open Exit_2 Case 2 MoveJ pos_3 approach_3 If norm([Mx])<Maxim MoveL 'approach_3' Waypoint_5 Gripper Open Exit_3 Case 3 MoveJ pos_4 If norm([Mx])<Maxim MoveL approach_4 Gripper Open Exit_4 Thread_1 sensor_data≔socket_read_ascii_float(6,"stream") Loop_1≔Loop_1 If sensor_data[0] ≥6 Fx≔sensor_data[1] Fy≔sensor_data[2] Fz≔sensor_data[3] Mx≔sensor_data[4] My≔sensor_data[5] Mz≔sensor_data[6] Else Fx≔0.0 Fy≔0.0 Fz≔0.0 Mx≔0.0 My≔0.0 Mz≔0.0 sync() SubP_rq_set_zero rq_set_zero() SubP_rq_print_firmware_version rq_print_firmware_version() SubP_rq_print_prod_year rq_print_prod_year() SubP_rq_print_serial_number rq_print_serial_number() SubP_rq_print_version rq_get_version()Team4 @Juanjo @Enric @Adam529dp
Vicosystems S.L.L.
Industrial Collaborative Systems
[email protected]
Code
Program Init Variables BeforeStart cp≔get_target_tcp_pose() MoveJ cp rq_activate_and_wait() Script: accessor_capt.script socket_close("stream") socket_open("127.0.0.1",63351,"stream") Robot Program Gripper Open MoveJ Waypoint_3 Camera Locate MoveL Waypoint_1 Waypoint_2 Gripper Close Waypoint_1 MoveJ Waypoint_4 Pallet Pattern: Line StartPos_1 EndPos_1 PalletSequence Approach_1 PatternPoint_1 Call SubP_rq_set_zero Wait: 1.0 If Mx≥-1.0 MoveL Waypoint_5 Waypoint_7 Gripper Open Exit_1 Thread_2 cp≔get_target_tcp_pose() sync() Thread_1 sensor_data≔socket_read_ascii_float(6,"stream") If sensor_data[0] ≥6 Fx≔sensor_data[1] Fy≔sensor_data[2] Fz≔sensor_data[3] Mx≔sensor_data[4] My≔sensor_data[5] Mz≔sensor_data[6] Else Fx≔0.0 Fy≔0.0 Fz≔0.0 Mx≔0.0 My≔0.0 Mz≔0.0 SubP_rq_set_zero rq_set_zero() SubP_rq_print_firmware_version rq_print_firmware_version() SubP_rq_print_prod_year rq_print_prod_year() SubP_rq_print_serial_number rq_print_serial_number() SubP_rq_print_version rq_get_version()Code
Program Init Variables BeforeStart Script: accessor_capt.script socket_close("stream") socket_open("127.0.0.1",63351,"stream") Robot Program MoveJ Gripper Move 52% Waypoint_1 Camera Locate MoveL app pick Gripper Move 72% app MoveL Waypoint_3 Pallet Pattern: Line StartPos_1 EndPos_1 PalletSequence Waypoint_4 Approach_1 'PatternPoint_1' Loop norm(Mx)<0.5 var_1≔get_actual_tcp_pose() var_2≔pose_add(var_1,p[-0.0005,0,0,0,0,0]) var_2 Loop norm(Fz)<10 var_3≔pose_trans(get_actual_tcp_pose(),p[0,0,0,0.01,0,0]) var_3 Gripper Move 52% Exit_1 MoveJ Waypoint_3 Thread_1 sensor_data≔socket_read_ascii_float(6,"stream") If sensor_data[0] ≥6 Fx≔sensor_data[1] Fy≔sensor_data[2] Fz≔sensor_data[3] Mx≔sensor_data[4] My≔sensor_data[5] Mz≔sensor_data[6] Else Fx≔0.0 Fy≔0.0 Fz≔0.0 Mx≔0.0 My≔0.0 Mz≔0.0 SubP_rq_set_zero rq_set_zero() SubP_rq_print_firmware_version rq_print_firmware_version() SubP_rq_print_prod_year rq_print_prod_year() SubP_rq_print_serial_number rq_print_serial_number() SubP_rq_print_version rq_get_version()Robotiq Integration Coach
t.ber[email protected]
1-418-380-2788, option 3
For this challenge, we used the vision system to identify the PCB. Then, we used the object detection feature to verify that our pick was successful. Upon a successful pick, we move the PCB towards the insertion jig with a slight angle. This angle will give clearance to the pins underneath the PCB. The next step in the program is to slowly move the PCB towards the end of the insertion jig. While the robot is moving the PCB, we are constantly monitoring the force to see when the PCB has encountered the edge of the insertion jig. Once the force has reached the threshold that we set previously, the robot will lay the PCB flat against the insertion jig. This will avoid any possible "Sticky Finger" Problems when releasing the part. We have also used popups to show when you could use an I/O to empty your tray or to activate a feeder.
Enjoy!
Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3
Program Init Variables BeforeStart Script: accessor_capt.script socket_close("stream") socket_open("127.0.0.1",63351,"stream") Robot Program MoveJ Waypoint_1 Camera Locate MoveL Gripper Move 52% Approach_Pos Pick_Pos Gripper Close find≔0 If rq_is_object_detected() MoveJ Retreat_Pos Set Count=Count+1 Approach_Tray Pallet Pattern: Line StartPos_1 EndPos_1 PalletSequence Tray_Pos Loop norm(Mx)<0.5 var_1≔get_actual_tcp_pose() var_2≔pose_add(var_1,p[-0.0005,0,0,0,0,0]) var_2 No_Sticky_Finge Gripper Move 52% Place_Retreat If Count≟4 Popup Count≔0 Else Popup Set find=find+1 If find≟5 Popup find≔0 Thread_1 sensor_data≔socket_read_ascii_float(6,"stream") If sensor_data[0] ≥6 Fx≔sensor_data[1] Fy≔sensor_data[2] Fz≔sensor_data[3] Mx≔sensor_data[4] My≔sensor_data[5] Mz≔sensor_data[6] Else Fx≔0.0 Fy≔0.0 Fz≔0.0 Mx≔0.0 My≔0.0 Mz≔0.0 SubP_rq_set_zero rq_set_zero() SubP_rq_print_firmware_version rq_print_firmware_version() SubP_rq_print_prod_year rq_print_prod_year() SubP_rq_print_serial_number rq_print_serial_number() SubP_rq_print_version rq_get_version()Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3