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ctiger


   Robot Program
     MoveJ
       home
     MoveL
       Waypoint_15
       Waypoint_16
       Waypoint_17
     MoveJ
       Waypoint_1
       Gripper Close (1)
     Set DO[0]=On
     Set DO[0]=Off
     MoveL
       Waypoint_2
     MoveL
       Waypoint_3
     MoveJ
       Waypoint_4
       Waypoint_12
       Waypoint_13
     MoveL
       Pressing_button
       Release_button
     MoveJ
       Waypoint_7
       Waypoint_8
       Waypoint_9
       Waypoint_10
       Waypoint_11
       Waypoint_14
     Pallet
       Pattern: Square
         Corner1_1
         Corner2_1
         Corner3_1
         Corner4_1
       PalletSequence
         If (cnt_1%2) == 0
             Approach_1
             PatternPoint_1
        Gripper Move50%
             Exit_1
         Else(cnt_1%2) == 0
             Approach_2
             PatternPoint_1
        Gripper Move50%
             Exit_1
     MoveJ
       Waypoint_18
       Waypoint_19

The last part palletsequence, I change both approach to 0deg and 180deg. I also changed the patternpoint but when it does either odd counter or even counter on the approach line the wrist3 will rotate and goes to the next line patternpoint and it rotate back. Do I have to rename the function so that it will rotate differently?

I also notice that it will not move to the next column or not executing the PalletSequence.


Any suggestion or advice are greatly app

I will keep trying different position to observe the movement.


Nicholas_Francoeur

@ctiger, would you share the .urp file?

ctiger


   Robot Program
     MoveJ
       home
     MoveL
       Waypoint_15
       Waypoint_16
       Waypoint_17
     MoveJ
       Waypoint_1
       Gripper Close (1)
     Set DO[0]=On
     Set DO[0]=Off
     MoveL
       Waypoint_2
     MoveL
       Waypoint_3
     MoveJ
       Waypoint_4
       Waypoint_12
       Waypoint_13
     MoveL
       Pressing_button
       Release_button
     MoveJ
       Waypoint_7
       Waypoint_8
       Waypoint_9
       Waypoint_10
       Waypoint_11
       Waypoint_14
     Pallet
       Pattern: Square
         Corner1_1
         Corner2_1
         Corner3_1
         Corner4_1
       PalletSequence
         If (cnt_1%2) == 0
             Approach_1
             PatternPoint_1
        Gripper Move50%
             Exit_1
         Else(cnt_1%2) == 0
             Approach_2
             PatternPoint_1
        Gripper Move50%
             Exit_1
     MoveJ
       Waypoint_18
       Waypoint_19

The last part palletsequence, I change both approach to 0deg and 180deg. I also changed the patternpoint but when it does either odd counter or even counter on the approach line the wrist3 will rotate and goes to the next line patternpoint and it rotate back. Do I have to rename the function so that it will rotate differently?

I also notice that it will not move to the next column or not executing the PalletSequence.


Any suggestion or advice are greatly appreciated.

I will keep trying different position to observe the movement.


ctiger

Hi @Nicholas_Francoeur,

Not sure what I have done wrong. I bring out the if statement from the palletsequence tree, and tried running the program, I still having the issue of not going into the next column under the approach line. After the approach line it goes back to corner 1 instead of working towards corner 2. I am currently using PolyScope 5.1, would that be the issue? I have tried running the pallet_180deg.urp program and the behavior is the same as what I am facing. 

Thanks in advance.


ctiger
Nicholas_Francoeur

@ctiger, let us know how it goes!

Nicholas_Francoeur

@ctiger, have a look at the UR software manual here.

A relative waypoint would be:

A waypoint with the position given relative to the robot arm’s previous position, such as “two centimeters to the left”. The relative position is defined as the difference between the two given positions (left to right). Note: repeated relative positions can move the robot arm out of its workspace. The distance here is the Cartesian distance between the TCP in the two positions. The angle states how much the TCP orientation changes between the two positions. More precisely, the length of the rotation vector describing the change in orientation. 

In your case for the IF statement:

     If count%2≟0
       MoveJ
         Waypoint_1                  - Relative waypoint with start point at your pallet approach point and end point which would be your 0 degree placed pose
         Gripper Move10mm (1)
         Wait: 1.0
         Exit_1                             - Relative waypoint with start point at 0 degree placed pose and end point which would be 100mm for example
     Else
       MoveJ
         Waypoint_2                  - Relative waypoint with start point at your pallet approach point and end point which would be your 180 degree placed pose
         Gripper Move10mm (1)
         Wait: 1.0
         Exit_2                             - Relative waypoint with start point at 180 degree placed pose and end point which would be 100mm for example

Hope that helps!