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lauriefisk
Partner Posts: 2 Recruit
FT300 Sensor and Millibar Manual Tool Changer |
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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?
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louis_bergeron Posts: 94 Handy
@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 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
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Enric Founding Pro, Partner, Beta Tester Multi Gripper, Vacuum Beta tester Posts: 113 Handy
@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