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Etienne_Samson
Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 419 Handy
Advanced Assembly of a Robotiq Universal Controller |
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Etienne_Samson
Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 419 Handy
This challenge consists of an advanced assembly of a Robotiq Universal Controller
Provided material:
Hint 1: You can control the motor with IO's.
Hint 2: You can insert the PCB in place using force signals.
Good luck!
Provided material:
- Control box with panel
- Panel screws (black)
- Din rails with screws
- PCB with screws
- 12V Spur Gearmotor with hex-shank bit holder
- Complete bit set
Hint 1: You can control the motor with IO's.
Hint 2: You can insert the PCB in place using force signals.
Good luck!
Etienne Samson
Technical Support Director
+1 418-380-2788 ext. 207
[email protected]
[email protected]
Part 1: PCB Insertion using force sensor
Part 2: Lid Placement
Here is the code
Loop 'Write robot program here.' Call Task_4 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() Task_4 MoveJ Waypoint_1 Gripper Move 65% 'Camera Locate' Gripper Open Camera Locate MoveL Waypoint_14 Waypoint_16 Gripper Close Waypoint_14 MoveJ Waypoint_17 Waypoint_18 Gripper Open Waypoint_17 Waypoint_19 Gripper Close Wait: 1.0 Loop Fy<5 MoveL Waypoint_20 Waypoint_23 Waypoint_21 Wait: 1.0 Loop Fx>-5 MoveL Waypoint_22 Waypoint_21[email protected]
https://www.linkedin.com/in/catherinebernier
With Force torque and Path recording
Code
Program BeforeStart Folder Script: accessor_capt.script socket_close("stream") socket_open("127.0.0.1",63351,"stream") rq_set_zero() Gripper Open Robot Program Gripper Open MoveJ Waypoint_1 'Camera Locate' 'MoveJ' 'Camera Locate' Tornillo1 MoveJ Waypoint_16 Waypoint_18 MoveL Set TO[0]=On Waypoint_17 Wait: 1.0 Set TO[0]=Off Waypoint_18 Waypoint_20 Set TO[0]=On MoveL Waypoint_19 Loop get_tool_current()<.200 var_2≔pose_trans(Tool,p[-0.000,-0.000,0.001,0,0,0]) var_2 Set TO[0]=Off Waypoint_20 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 sync()Vicosystems S.L.L.
Industrial Collaborative Systems
[email protected]
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 56% Waypoint_1 Camera Locate MoveL app pick Gripper Close app MoveJ App_Fixture Waypoint_16 MoveL Waypoint_17 Waypoint_18 Waypoint_19 Wait: 1.0 Gripper Move 68% Waypoint_2 Gripper Close Waypoint_4 Waypoint_5 Waypoint_6 Waypoint_7 Gripper Open MoveL Waypoint_8 Waypoint_3 Waypoint_9 Gripper Close Waypoint_10 Waypoint_11 Waypoint_12 Gripper Open Waypoint_13 Waypoint_14 Waypoint_15 Waypoint_13 MoveL Waypoint_20 Waypoint_21 Gripper Close Set Loop 4 times Pallet Pattern: Line StartPos_1 EndPos_1 PalletSequence Approach_1 Set TO[0]=On PatternPoint_1 Wait: 1.0 Set TO[0]=Off Exit_1 Waypoint_22 Pallet Pattern: Square a1st_Corner_1 a2nd_Corner_1 a3rd_Corner_1 a4th_Corner_1 PalletSequence Approach_2 PatternPoint_2 set_tool_voltage(12) Set TO[0]=On Wait: 0.5 'set_tool_voltage(24)' Force Wait get_tool_current()≟0.35 Set TO[0]=Off Exit_2 Waypoint_22 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()Product Expert
Robotiq
[email protected]
Here is the video for Team #2
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 56% Waypoint_1 Camera Locate MoveL app pick Gripper Close app MoveJ App_Fixture Waypoint_16 MoveL Waypoint_17 Waypoint_18 Waypoint_19 Wait: 1.0 Gripper Move 68% Waypoint_2 Gripper Close Waypoint_4 Waypoint_5 Waypoint_6 Waypoint_7 Gripper Open MoveL Waypoint_8 Waypoint_3 Waypoint_9 Gripper Close Waypoint_10 Waypoint_11 Waypoint_12 Gripper Open Waypoint_13 Waypoint_14 Waypoint_15 Waypoint_13 MoveL Waypoint_20 Waypoint_21 Gripper Close Set Loop 4 times Pallet Pattern: Line StartPos_1 EndPos_1 PalletSequence Approach_1 Set TO[0]=On PatternPoint_1 Wait: 1.0 Set TO[0]=Off Exit_1 Waypoint_22 Pallet Pattern: Square a1st_Corner_1 a2nd_Corner_1 a3rd_Corner_1 a4th_Corner_1 PalletSequence Approach_2 PatternPoint_2 set_tool_voltage(12) Set TO[0]=On Wait: 0.5 'set_tool_voltage(24)' Force Wait get_tool_current()≟0.35 Set TO[0]=Off Exit_2 Waypoint_22 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
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 snap Camera Locate Gripper Move 54% MoveL prepick2 pick2 Gripper Close prepick2 MoveJ preplace2 MoveL Path Gripper Move 67% preplace2 Gripper Open MoveJ snap Camera Locate MoveL prepick1 pick1 Gripper Close prepick1 MoveJ preplace1 MoveL place1 Gripper Open preplace1 MoveJ pickpin1 MoveL pin1 Set TO[0]=On rel Set TO[0]=Off pickpin1 MoveJ pin1top MoveL prescrew Set TO[0]=On If Fz≤50 Waypoint_1 Set TO[0]=Off 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()Application Engineer
Robotiq
[email protected]
We used the camera to located the PCB and programmed waypoints for the rest of the application.
Program Robot Program MoveJ Waypoint_1 Gripper Open Camera Locate MoveL Waypoint_12 Gripper Move 56% Waypoint_13 Gripper Close Waypoint_14 MoveJ Waypoint_15 Waypoint_16 Waypoint_17 Waypoint_18 Waypoint_19 Waypoint_20 Gripper Move 67% Waypoint_21 Waypoint_22 Waypoint_23 Waypoint_24 Waypoint_25 Waypoint_26 Waypoint_27 Waypoint_28 Waypoint_29 MoveJ Waypoint_1 Gripper Open Halt[email protected]