FT300 Sensor and Millibar Manual Tool Changer

lauriefisk

I'm working on a UR5 application that involves glue-dispensing and screw-driving. The FT sensor will be mounted to the end-of-arm and the Millibar Manual Tool Changer will be mounted to the sensor. An operator will have to switch from the glue-dispensing tool to the screw-driving tool between operations (with the assist of the tool changer.) The FT sensor is only used to measure torque for the screw-driving portion. Has anyone used the FT sensor and the Manual Tool Changer together? Are there any potential issues that I'm overlooking?

louis_bergeron

@lauriefisk

I don't see any problem having a tool changer.  Just take care of setting the right TCP and payload in your programs with instructions like set_payload(m, CoG)  and set_tcp(pose).

matthewd92

I’d also make sure there’s no undue torque placed on the sensor when unlocking or locking the changer. I’ve never used one of those but I believe they use a cam lock over clamp like on a bike wheel to secure it in place. 

Enric

@lauriefisk .I have mounted it and this does not exist any problem. We have to calibrate the sensor in each manual change, this will avoid having problems of repeatability in the process