UR 官方培训课程讲义
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MoveJ wp_1 wp_2
Robot Base
wp_3
Linear movement
MoveL wp_1 wp_2
Robot Base
wp_3
Linear movement
MoveL wp_1
blend radius wp_2
Robot Base
wp_3
Process movement
MoveP wp_1
Force type: Point
Features
•Specify Feature point •Y-axis of task frame points towards Feature point •Task frame changes during runtime
Force type: Motion
Features
•TCP motion in X-axis of task frame •Task frame changes during runtime •Y-axis perpendicular to TCP motion
•X-axis not compliant •Teach mode not applicable
Position variables
Definition of position variable pose_var = p[ x , y , z , rx , ry , rz ]
variable name
linear coord’s
rotation
Features
•Default features
Program logic
Loop If … else SubProg Wizards
Pallet Seek
Variable types
Assignment
var type bool int float string pose list
value true/false 16 bit, whole number real number (decimal) ASCII characters (text) position variable p[x,y,z,rx,ry,rz] array of variables
Robot = server
Fixed registers
•I/O status •TCP and joint positions •Robot and program state Modbus client
Specifications
•Force precision ± 10 N •Torque precision ± 5 Nm •Position precision ± 5 mm •Orientation precision ± 0.5 °
Force type: Simple
Features
•One axis in compliant mode •Force direction in Z-axis •Line feature, direction in Y-axis
Electrical interface
Communication interfaces
Software
Initial setup
Robot configuration Graphical User Interface TCP and payload Mounting I/O setup Load/save installation
Robot arm Controller box
New calibration method
For use after replacement of joint or entire robot arm
•Replace joint •Calibrate joint •Open existing program •Re-teach the most important waypoints
3
Day 1
Initial setup Robot configuration Graphical User Interface TCP and payload Mounting I/O setup Load/save installation
Basic programming
Create/open/save programs Waypoints and movement types Digital and analog signals Basic Commands Program Logic Variables Threads and events
•Client •Server
Dashboard server FTP server Ethernet socket Euromap67 (option)
Modbus TCP
Robot = client
Ethernet
Ext. device
Modbus client
Modbus server
Modbus TCP
correction
PATENT PENDING
korrektion
Day 2
Intermediate/advanced
Force Control Position variables Features Script Masterboard Tool connector Modbus TCP •Client •Server Dashboard server FTP server Ethernet socket Euromap67 (option) Wiki support page Software update Firmware update URmagic files URsim
Control box Digital input Digital output Analog input Analog output 8 DI 8 DO 2 AI 2 AO
Tool connector 2 DI 2 DO 2 AI -
Basic commands
Popup Halt Comment Folder
Auto Initialize Def. program Log history Joint replacement Low Level Control Calibrate joint
4
Auto Start
Service/troubleshooting
Day 2
Intermediate/advanced Force Control Position variables Features Script Masterboard Tool connector Modbus TCP •Client •Server Dashboard server FTP server Ethernet socket Euromap67 (option) Wiki support page Software update Firmware update URmagic files URsim
Base Tool Base coordinate system Tool coordinate system
•User defined features
Point Line Plane
URscript language
•Script code
Single line script Script file
DO[0] = LO
Stop
Auto start
Auto initialize Def. program
Service/troubleshooting
Log history Joint replacement Low Level Control Calibrate joint
Maintenance
23
Electrica百度文库 interface
Communication interfaces
Software
Force Control
Features
•Specify force control relative to coordinate system •Specify force control relative to motion •Define force in single axis or multiple axes •Limit tool velocity in compliant axes •Easy testing using the backrive button
Electrical interfaces
•Masterboard •Tool connector
Electrical interface
•Masterboard
Electrical interface
•Tool connector
Communication interfaces
Modbus TCP
Basic programming
Create/open/save programs Waypoints and movement types Digital and analog signals Basic Commands Program Logic Variables and types Threads and events
Force type: Frame
Features
•Multiple axes in compliant mode •Force level individual for each axis •Define speed for axes in compliant mode •Base, Tool, user defined frames
Distributor training
August 2013
History
2005 – 2008:
• Development of UR5 2008: • First commercial sales of UR5 2009: • Distribution network established in Europe 2011: • Distribution network established in Asia • Development of UR10 2012: • Launch of UR10 in the market • Distribution network established in US 2013: • Distribution network established in Latin America • Subsidiaries established in New York + Shanghai
Global distribution 2013
Europe Austria (AT) Belarus (RU) Belgium (BE) Croatia (HR) Czech Republic (CZ) Denmark (DK) Estonia (EE) Finland (FI) France (FR) Germany (DE) Hungary (HU)
Threads/events
Thread
•Parallel process •Continuously running
Start
Robot prg
Event
Thread
Event
•Parallel process •Triggered by a condition
DO[0] = HI
Trigger: DO[0] = HI
Waypoints and movement types
•Movement types
MoveJ MoveL MoveP MoveC
•Waypoint types
Fixed Relative Variable
•Parameters
Speed Acceleration Blend
Joint movement
shared blend wp_2 constant TCP speed
Robot Base
wp_3
Circular movement
MoveC MoveC wp_2
MoveP wp_1
MoveC wp_3 Robot Base
Digital and analog signals
Wait Set
Robot Base
wp_3
Linear movement
MoveL wp_1 wp_2
Robot Base
wp_3
Linear movement
MoveL wp_1
blend radius wp_2
Robot Base
wp_3
Process movement
MoveP wp_1
Force type: Point
Features
•Specify Feature point •Y-axis of task frame points towards Feature point •Task frame changes during runtime
Force type: Motion
Features
•TCP motion in X-axis of task frame •Task frame changes during runtime •Y-axis perpendicular to TCP motion
•X-axis not compliant •Teach mode not applicable
Position variables
Definition of position variable pose_var = p[ x , y , z , rx , ry , rz ]
variable name
linear coord’s
rotation
Features
•Default features
Program logic
Loop If … else SubProg Wizards
Pallet Seek
Variable types
Assignment
var type bool int float string pose list
value true/false 16 bit, whole number real number (decimal) ASCII characters (text) position variable p[x,y,z,rx,ry,rz] array of variables
Robot = server
Fixed registers
•I/O status •TCP and joint positions •Robot and program state Modbus client
Specifications
•Force precision ± 10 N •Torque precision ± 5 Nm •Position precision ± 5 mm •Orientation precision ± 0.5 °
Force type: Simple
Features
•One axis in compliant mode •Force direction in Z-axis •Line feature, direction in Y-axis
Electrical interface
Communication interfaces
Software
Initial setup
Robot configuration Graphical User Interface TCP and payload Mounting I/O setup Load/save installation
Robot arm Controller box
New calibration method
For use after replacement of joint or entire robot arm
•Replace joint •Calibrate joint •Open existing program •Re-teach the most important waypoints
3
Day 1
Initial setup Robot configuration Graphical User Interface TCP and payload Mounting I/O setup Load/save installation
Basic programming
Create/open/save programs Waypoints and movement types Digital and analog signals Basic Commands Program Logic Variables Threads and events
•Client •Server
Dashboard server FTP server Ethernet socket Euromap67 (option)
Modbus TCP
Robot = client
Ethernet
Ext. device
Modbus client
Modbus server
Modbus TCP
correction
PATENT PENDING
korrektion
Day 2
Intermediate/advanced
Force Control Position variables Features Script Masterboard Tool connector Modbus TCP •Client •Server Dashboard server FTP server Ethernet socket Euromap67 (option) Wiki support page Software update Firmware update URmagic files URsim
Control box Digital input Digital output Analog input Analog output 8 DI 8 DO 2 AI 2 AO
Tool connector 2 DI 2 DO 2 AI -
Basic commands
Popup Halt Comment Folder
Auto Initialize Def. program Log history Joint replacement Low Level Control Calibrate joint
4
Auto Start
Service/troubleshooting
Day 2
Intermediate/advanced Force Control Position variables Features Script Masterboard Tool connector Modbus TCP •Client •Server Dashboard server FTP server Ethernet socket Euromap67 (option) Wiki support page Software update Firmware update URmagic files URsim
Base Tool Base coordinate system Tool coordinate system
•User defined features
Point Line Plane
URscript language
•Script code
Single line script Script file
DO[0] = LO
Stop
Auto start
Auto initialize Def. program
Service/troubleshooting
Log history Joint replacement Low Level Control Calibrate joint
Maintenance
23
Electrica百度文库 interface
Communication interfaces
Software
Force Control
Features
•Specify force control relative to coordinate system •Specify force control relative to motion •Define force in single axis or multiple axes •Limit tool velocity in compliant axes •Easy testing using the backrive button
Electrical interfaces
•Masterboard •Tool connector
Electrical interface
•Masterboard
Electrical interface
•Tool connector
Communication interfaces
Modbus TCP
Basic programming
Create/open/save programs Waypoints and movement types Digital and analog signals Basic Commands Program Logic Variables and types Threads and events
Force type: Frame
Features
•Multiple axes in compliant mode •Force level individual for each axis •Define speed for axes in compliant mode •Base, Tool, user defined frames
Distributor training
August 2013
History
2005 – 2008:
• Development of UR5 2008: • First commercial sales of UR5 2009: • Distribution network established in Europe 2011: • Distribution network established in Asia • Development of UR10 2012: • Launch of UR10 in the market • Distribution network established in US 2013: • Distribution network established in Latin America • Subsidiaries established in New York + Shanghai
Global distribution 2013
Europe Austria (AT) Belarus (RU) Belgium (BE) Croatia (HR) Czech Republic (CZ) Denmark (DK) Estonia (EE) Finland (FI) France (FR) Germany (DE) Hungary (HU)
Threads/events
Thread
•Parallel process •Continuously running
Start
Robot prg
Event
Thread
Event
•Parallel process •Triggered by a condition
DO[0] = HI
Trigger: DO[0] = HI
Waypoints and movement types
•Movement types
MoveJ MoveL MoveP MoveC
•Waypoint types
Fixed Relative Variable
•Parameters
Speed Acceleration Blend
Joint movement
shared blend wp_2 constant TCP speed
Robot Base
wp_3
Circular movement
MoveC MoveC wp_2
MoveP wp_1
MoveC wp_3 Robot Base
Digital and analog signals
Wait Set