Posts by KUAJARLOS

Hola, el urcap se ha de generar desde la plataforma UR+.Yo lo he generado, y aunque se instala correctamente y me sale el urcap colored folder, simplemente me genera un codigo html pero mi carpeta queda igual sin color. ¿es el codigo valido para la serie Ur10e? ¿como se asocia a la carpeta creada este codigo generado en formato html?

I attached example code (text in spanish):

private ICondition gesto;
IMotionContainer mc3;
private CartesianImpedanceControlMode soft2;
private int sentido = 0;

public void initialize() {
j1 = new JointTorqueCondition(JointEnum.J1, -15, 15);
gesto = j1;
soft2.parametrize(CartDOF.ALL).setDamping(.5);
soft2.parametrize(CartDOF.ROT).setStiffness(250);
soft2.parametrize(CartDOF.X).setStiffness(1100);
soft2.parametrize(CartDOF.Y).setStiffness(3000);
soft2.parametrize(CartDOF.Z).setStiffness(3000);
}

public void run() {

IMotionContainer mc3 = lbr.move(positionHold(soft2, -1,
TimeUnit.SECONDS).breakWhen(gesto));

if (mc3.hasFired(gesto)) {

if (lbr.getExternalTorque().getSingleTorqueValue(JointEnum.J1) > 0) {
getLogger().("movimiento derecha");

sentido = 1;

} else {
getLogger().error("Movimiento izquierda");

sentido = 2;

}
}
switch (sentido) {
case 1:
getLogger().info("Inicio programa movimiento derecha");

right();
break;
case 2:
getLogger().info("Inicio programa movimiento izquierda");

left();
break;
default:
getLogger().error("Orden no confirmada");
break;
}

}

I am attaching a programming example to activate the gripper

I am attaching the configuration of the robotiq two-finger gripper corresponding to the file Robotiq_AG_ECS.xml.The configuration file is made with version 3.0.9 of workvisual.
I hope it helps you, I connect to the first

I want to define a work space Cartesian, image as attachment, for a robot monitored structure.
knowing the distance of the origin work space Cartesian and values a, b, c (Cube image attached), what are the values and signs about X, Y, Z and parameters length, width and height , I have to write?
thanks

Thank you very much, it would be very great help

Hello

I want to do is display the value of the force made by the robot in Z while making a path.

ForceSensorData data =lbr.getExternalForceTorque(lbr.getFlange());
Vector force1=data.getForce();
double forceInZ=force1.getZ();

getLogger().info("Force=" + forceInZ);

but I do not visualize "Force =" at any time. Can it be because the time to be lower for example 10ms?

Example:
initializeCyclic(0, 10, TimeUnit.MILLISECONDS,
CycleBehavior.BestEffort);

By default, the limit of the axis 7 is given by -175, +175 .Is it possible to change these limits?

The task must be programmed in a class background task. Attached example where I want to control the force of the robot in Z.
What I need to know is how to start this background task?

thanks

Thanks for the quick answer.
Now I can not check the positions of the robot in joints (I'm on vacation for three weeks). But according to the new video, I was moving the robot at baseline (without a base change) and then executed turns 90 degrees and as seen in direction -270.
According question, the axis 7 then would be > 85º, and 85º + 90º = 175º so continuous in the other direction, right?
I attach the program code

I made a simple program, a point P1 which starts at X 0 Y 0 Z 0 A0 B0 C0 (same origin as the base) and moves to a P2 (X0 Y100 and Z0 A0 B0 C0) .
When I turn the base 45 (on A) is done ok (see first motion video) but when I turn 90,
performs -270 ° swivel.
.
Why not rotated 90 ° in the same sense that when I turn 45?

As I know the energy (wh) consumed by a robot is running?

The + X and + Y of my user coordinate system is parallel to the robot world. Why the Z direction is wrong, if it is correct the right hand rule?

can You schedule a backup image? Ex: by a digital signal that comes from a plc as is done on a autobackup

I use program shift function with rotation to move the letter U at the end of the word like an A.But results in the conversion of the program, that the points are displaced with rotation about Z and the tool tries to make the upside down U but below the table.In change if the tool change working direction (tool in + Z) does well. Why?

Thanks,very good

I know that it serves the string registers.
Ex:
Program title
CALL UP004 ('Water')

Subprogram UP004
SR [1] = [ar1]¨

and DATA I see that SR[1]= Water

My question is that practical utility has the SR [1] as well as understand its functioning
thanks

HandlingTool version 7.7

Is There any variable to move in joint or XYZ when I press the jog an exact amount of degrees or mm?