Hello Raymond,
Were you able to try milling PE with a UR10?
Any success?
Regards,
Paul
Hello Raymond,
Were you able to try milling PE with a UR10?
Any success?
Regards,
Paul
Andreas,
If there was a timer, then the glue consumption could be calculated by time, and be totally independent of motion.
We just need to find put how long has the glue dispenser been turned on for.
I did not find any timer function in the script manual.
Start a counter when the glue is turned on, and stop it when the glue is turned off. Sounds easy enough but not sure how to do it.
The counter would be in a thread I assume.
Maybe the path length and time functions could be implemented in Polyscope?
Any CAM program gives this information for a toolpath.
Regards,
Paul
Hi Andreas,
Vielen danke.
It's a very good idea. In this situation, the user is using Polyscope, to manually define the path.
However, I can see that I could copy their program, and add the script functions to find out the path length.
As you mentioned, I'm not sure if the blend radius is taken into account or if the circular moves are properly accounted for.
I'll definitely give this a try.
Paul
Hello,
Is there a way to find out the length of a path:
- it is for a gluing application, using a Move_P
- I'd like to know the length of the path so the robot can send a message saying that the glue bottle is almost empty.
I could do it by trial (X identical parts per bottle) but if we have different parts, then it becomes a bit complicated.
If we know that a glue bottle has a capacity of say 500m of glue, then when we reach that length, we know the bottle is empty, or we could warn that the current path is not doable.
Thanks,
X9tech,
Thanks, this is a slick way of overcoming this. Works great.
Hello,
Is there a way to avoid getting this warning message when a variable is shared between the main program and a subroutine?
Pressing 'cancel' allows you to push forward and everything works fine.
Polyscope 3.2.20175 (and lower too) is telling me that there is a shared variable and allows me to rename it (which is not at all what I want). This is what it appears to be.
So this message is a nuisance but does not hinder functionality.
Thanks,
Lerak,
Maybe something like this would help:
Define a position (a pose) that would be the 'origin' for the next moves.
Define the next moves by re-using the 'origin' coordinates.
So that if you change the 'origin', all the next moves simply follow, just as if they were all relative to the origin.
In this example (attached), 'acp' is the centre of the polygon, and is used like an origin.
The points of the polygon are calculated by re-using the X&Y coordinates of the pose 'acp', like x=acp[0], y=acp[1]
Sachin,
Thank you. I will try to implement what you said.
Why should there be aluminium foil on the blue plastic caps? Is it to shield that area?
Paul
I may have an application for a UR5/UR10 to weld sheetmetal boxes.
The welding process is 'CMT' (cold Metal transfer) which works very well for thin sheetmetal parts and joining steel with aluminium.
This process is very similar to MIG welding.
The generator is supplied by Fronius. They make robotic power supplies too.
Programming would not be an issue. By CAM software or manual/teach.
However, what sort of electrical or mechanical issues could there be?
I'm concerned about the E.M.I. interference with the robot's wrist and other electronic components.
Could this be a problem and how can it be solved?
Maybe a steel plate to attach the welding gun to the robot would reduce EMI? Maybe already built-in the welding gun?
It's a low spatter process so some metal shields could prevent spatter on the UR.
There are some YouTube videos showing URs welding so it seems possible. But for how long and what potential damage can be done to the robot?
Thanks,
Hello,
I tried to connect my LCD projector (resolution: 1400x1050) to my UR5 CB3 controller and it did not work.
It works when I connect a LCD computer screen. Not sure of the resolution but probably 1280x1024 so lower than the projector.
Does anybody know why you have to wait for the controller to boot before connecting the 2nd screen?
Anyway around that?
It seems as if the controller senses the 2nd screen and turns off the display when booting.
I connected a Mazak CNC (has a Mitsubishi control). I 'd definitely recommend you get the customer to buy the robot interface for the Fanuc controller.
It exposes all the I/O you'd need (such as E-stop, axis inhibit, auto-door open/close) and some other functions that protect the robot from any unwanted move (axis or door or spindle).
Not sure how much it would cost but expect between US$ 2,400 (for a current Haas CNC) to $8,000 for a 10 yr old Mazak CNC. Plus the factory tech to install it.
It also comes with a bunch of extra M-codes (typically 4 input, 4 output, at least) and associated relays that allow you to program the robot call via M-codes. Bi-directional communication via NC program. Again, makes your life a lot easier.
Some CNCs have spare M-codes that trigger relays but usually not often.
It makes your life a lot easier!
And it adds safety factors that you cannot get through hardwiring.
I would be very reluctant to connect a robot w/o that interface.
I sell CNC programming software so I see a lot of CNC, and they are not simple machines!
Add automatic door (you may be able to get away with either building your own automatic door opener-like i did) unless the robot can open the door by itself.
The robot can also press buttons, such as 'cycle start', 'chuck open/close' (on a lathe).
You'll need some sort of automatic workholding device: on a lathe, usually a hydraulic chuck if so equipped, on a mill, that's a whole other story.
It is not easy.
You'll see on the UR youtube channel, the CNC tending applications, there's a pneumatic vise on the mills or a hydraulic chuck on the lathes.
There's also a door-opener (robot or internal pneumatic cylinder).
Hope this helps.
Claycamel, thank you,
I'll play with the installation plane as variable and see how that works. I'll use linear algebra to resolve equations for line and planes.
I'm working on a probing application where the UR probes a block:
- probes 3 points, using 'if force()>= f_max' to stop when the UR senses resistance
- current_pose = get_actual_tcp_pose
So I have 3 points, enough to define a plane.
Now how can I build an installation feature plane from these 3 points? Pretty easy interactively, but by programming?
I can workaround this by using logic to create planes via equations and so on ( some 3D math involved). Not a big deal, but being able to re-use some existing functions may make this project easier.
This could be useful to be able to save the probed features if the power goes out, eliminates the need to re-probe, for example.
This could be useful to visualize probed features and use them as safety planes also.
Thanks,