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SebastienSebastien Posts: 219 Handy
Anyone tried offline programming a UR using a software like RobotMaster or Octopuz.
We used this in the past for Fanuc robots so wondering if anyone tried it out for UR and what applications you did?

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  • matthewd92matthewd92 Posts: 826Founding Pro, Tactile Sensor Beta Testers Handy
    We looked at a system last year, I'd have to go back to get the name. We did a test program and the code was ok coming off. It was just out of our price range at the time. If you're interested I can find the info. 
  • SebastienSebastien Posts: 219 Handy
    @matthewd92
    Thanks for the update. I did work with such a software in the past for a robot milling/machining cell. These softwares are quite expensive so you really need to justify the cost if this in your project. In the past I used this software on a robot milling cell. It was a Fanuc robot that would mill 3D parts. So highly complex trajectories and a lot of points. Basically impossible, do to without the software. However, since I don't think UR is accurate enough for robot milling and with the path recording software developed by Robotiq, I was wondering what kind of UR applications could justify using such a software!

  • matthewd92matthewd92 Posts: 826Founding Pro, Tactile Sensor Beta Testers Handy
    @Sebastien agreed!  Now that Robotiq has the path recording the only thing left that I would use simulation for is customer proof of concept but honestly, its usually just as fast to do it on the robot and then shoot a video for the customer and be done with it.
  • ShaoShao Posts: 1 Recruit
    @matthewd92 @Sebastien Hi, I know an offline system for UR that is under development :) The Alpha version was already very helpful.

    Could you tell me what application do you want to do with a UR and offline tool? What price is acceptable for you? How about 199$/Year?
  • SimonSimon Posts: 8 Apprentice
    Hi @Sebastien, we have improved the offline programming features of ArtiMinds RPS lately - it's reasonably priced and is certified by Universal Robots (UR+). Happy to give you a short intro via TeamViewer / Skype.
  • matthewd92matthewd92 Posts: 826Founding Pro, Tactile Sensor Beta Testers Handy
    Shao said:
    @matthewd92 @Sebastien Hi, I know an offline system for UR that is under development :) The Alpha version was already very helpful.

    Could you tell me what application do you want to do with a UR and offline tool? What price is acceptable for you? How about 199$/Year?
    We would look to do a lot of our applications offline if I could pull in the CAD data for the work cell as this would allow us to get very close to a final product prior to having the cell built allowing us to accelerate development.

    I think price will be totally dependent on what the features of the software is.  Obviously, as a start-up price is always a concern and most of the systems that I looked at last year were just too far out of range for now (>$10k per seat) even though the features they had would be great to have
  • SebastienSebastien Posts: 219 Handy
    @Shao @Simon
    This is nice. Any chance you can have the alpha version of the software available for something like a 30 days trial? As @matthewd92 the main thing right now for us as well is to offline program the UR by adding CAD models of the robotic cell to the software, this would allow us to create entire program and simply touch up on a few points when we get to the real cell. If you can't share a trial license maybe a quick video would be nice.
    @Simon I have heard about Artiminds and thought it was only made for programming tricky applications like deburing, assembly and force insertion. Am I mistaking? Do you have some genera videos presenting the software or trial versions?

    Also, @Shao , I like the $/month way. I considered Solidworks in the first place but do to cost we are now working with OnShape! A great software!


  • matthewd92matthewd92 Posts: 826Founding Pro, Tactile Sensor Beta Testers Handy
    Totally off subject, @Sebastien we use OnShape software as well, have for over a year and love it!  Highly recommend it to anyone looking for the future of 3D CAD. 
  • SimonSimon Posts: 8 Apprentice

    @Sebastien
    Fair point - our focus is definitely solving tricky things easily with a robot - hardware independent and without expert knowledge. Especially force- or vision adaptive robot control is what we are passionate about. This makes our software currently shine especially for all kinds of assembly involving flexible materials / imprecisions - e.g. a recent example by Essert from cabling .

    But our software provides as well offline programming functions (path-planning, collision avoidance, cycle-time estimation, CAD support), which we have extended recently. Key difference to the other tools is the more attractive pricing, focus on the robot cell only (not an entire automation line) and support of UR, Denso & Kuka robots only. As we are extending features our documentation & marketing material lags a bit behind, a short impression can be found here .

    We're happy to give anyone interested in our software a personal online introduction (TeamViewer, Skype or Skype Business) - just drop us an email to [email protected] and propose a timeslot (ca 1h) convenient for you a couple of days in advance. And for sure there is a 30 days trial version available - please check our website to register for that: http://www.artiminds.com/software_demo.html

  • SebastienSebastien Posts: 219 Handy
    @Simon
    this is really nice. I love the Essert video example! Will get in touch with you shortly for a live demo for sure!
  • AlbertAlbert Posts: 7 Apprentice
    edited September 2016
    @Sebastien
    I recommend you to try RoboDK:
    www.robodk.com/download
    You will have a 30-day trial. What are you using your UR robots for? I can help you prepare a simulation. You can use RoboDK for many offline programming applications. I invite you to to read the full description from UR's website:
    http://www.universal-robots.com/plus/product/Simulation-and-Offline-Programming-with-RoboDK-22627/
    Among other things, you can run programs directly from the computer. If you provide me with your email address I'll send you a manual to use UR robots with RoboDK.
    If you have any questions I'll be happy to help.
    Albert
    [email protected]

  • JacobBomJacobBom Posts: 8 Handy
    @Sebastien
    Universal Robots+ currently features two offline programming suites; Artiminds RPS and RoboDK. 
    Besides from that, I believe Robotmaster supports UR5 and UR10 and Energid's Actin software also can do offline programming. 
  • PeterWarburtonPeterWarburton Posts: 1 Recruit
    @Sebastien 

    If you are going to use an OLP simulator you may need to calibrate your robot for absolute accuracy. Robots have great repeatability but very poor absolute accuracy (position errors of up to 7mm are common),  so poor that no manufacturer gives absolute accuracy figures.

    In an OLP you will be programming in absolute coordinates so, depending on your accuracy requirements (eg a low-end CNC job) you will need to calibrate the robot(s) the program will run on.

    Programs developed in the OLP will run on any calibrated robot (compared to taught programs that are only accurate on the robot they were taught on).

    RoboDK, probably the least expensive OLP on the market, has an excellent calibration tool that can use Creaform's latest high-precision optical tracker to calibrate any make of robot on the shop floor without needing to return the robot to its manufacturer for calibration (which anyway only a few manufacturers offer). And RoboDK can output that program to almost any make of robot so your program can be multi-robot and cross-platform.

    Creaform, a close neighbour to Robotiq in Quebec, is now offering robot calibration as a service or product. We also offer a high precision robot-mounted 3D scanner. If you need more information feel free to email me at [email protected] 

    Peter Warburton, Creaform
  • RM_ChaheRM_Chahe Posts: 3 Apprentice
    Robotmaster does support UR robots, we have tested paths up to 20,000 points successfully using SCRIPT file formats on all three UR arms. The main differentiator of Robotmaster versus the various programing approaches is easily creating optimized and error-free programs. If you would like to discuss your application further please email us at [email protected]
  • Rob_OCTOPUZRob_OCTOPUZ Posts: 3 Apprentice
    Hi @Sebastien,

    OCTOPUZ software does have full support for UR robots with the UR3, UR5, and UR10 models available in our library of robots. Offline programming for UR has become very popular for us in path-oriented applications such as dispensing, polishing, spraying and more. You can find a sample video of a dispensing application using OCTOPUZ here: 

    If you have any questions about our capabilities or would like to discuss any of your current processes feel free to contact us at [email protected]


  • SebastienSebastien Posts: 219 Handy
    @Rob_OCTOPUZ
    I was wondering what are the typical way that you see customer use to replicate simulated trajectories to real trajectories with the robot? Just so that you have there is a correct match between the simulation and the real cell. I know vision is an option but what else?
  • Rob_OCTOPUZRob_OCTOPUZ Posts: 3 Apprentice
    edited October 2016
    @Sebastien

    Using a Work Coordinate System (user frame) is often accurate enough to replicate simulated trajectories with the robot, but this does depend on application. We have had users use vision, touch sensing, or a laser to locate the part as well as using a laser tracker for updating the robot path live as it is running. We have used force feedback before, but this is commonly used to maintain a surface or edge finish, not used for accuracy adjustment.

    For UR robot support we currently create SCRIPT files, however after numerous requests, we are also in the process of adding more in-depth integration with the controller. Feel free to contact us at [email protected] and we can discuss this further and walk through a live demonstration of OCTOPUZ.
  • MoeMoe Posts: 1 Recruit
    Albert said:
    @Sebastien
    I recommend you to try RoboDK:
    www.robodk.com/download
    You will have a 30-day trial. What are you using your UR robots for? I can help you prepare a simulation. You can use RoboDK for many offline programming applications. I invite you to to read the full description from UR's website:
    http://www.universal-robots.com/plus/product/Simulation-and-Offline-Programming-with-RoboDK-22627/
    Among other things, you can run programs directly from the computer. If you provide me with your email address I'll send you a manual to use UR robots with RoboDK.
    If you have any questions I'll be happy to help.
    Albert
    [email protected]

    Albert,
    I had tried 3 time download RoboDK 64 bits online. it downloaded successfully and installed to my computer. But after run program, I will be crashed ( disappeared) when I try to open file or create new project. I am running on Windows 10 64 bits.
  • AlbertAlbert Posts: 7 Apprentice
    Moe,

    You can try running these two alternative versions and let me know if the issue still persists:
    C:/RoboDK/bin/RoboDK-GL2.exe
    C:/RoboDK/Viewer/RoboDK.exe

    Alternatively, the new version of RoboDK (v3.0) will probably work better:
    http://www.robodk.com/downloads/future/Install-RoboDK-64.exe
    Please let me know if it does not fix the issue.

    Albert
    [email protected]
  • brentbartsonbrentbartson Posts: 2 Recruit
    I think a strong consideration for the ease of use of any OLP package (with UR) is the ability of that OLP software to generate a .urp file. Most of the OLP systems I am aware of only support the output of .script  This makes it VERY difficult to edit the program on Polyscope. Therefore the program becomes almost non-maintainable for the end user (operator on the factory floor that wants to adjust a program without OLP package). Octopuz is coming out with a release that generates .urp files directly. If, in addition to this, they allow their package to import .urp, then this will be a solution that has even more benefits to the OLP programmer as well as casual end user of the robot.
  • AlbertAlbert Posts: 7 Apprentice
    Interesting suggestion regarding read/write of URP files... With RoboDK you can run programs on the real robot from the computer on the fly. I'm not aware of any standard procedure to read/write URP files provided by Universal Robots. I believe they are compressed files. Is there an official document from Universal Robots that we can refer to?
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