Asyril Asycube Control URCap, Руководство пользователя

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Asycube Control URCap
User guide
©
Copyright Asyril S.A.
Table of Contents Version: A2
000.102.083 2/50
Table of Contents
TABLE OF CONTENTS .............................................................................................................................. 2
1. INTRODUCTION
............................................................................................................................... 4
1.1. G
ENERAL INFORMATION
........................................................................................................... 4
1.2. O
THER MANUALS
...................................................................................................................... 5
1.3. O
VERVIEW
................................................................................................................................ 5
1.4. C
OMPATIBILITY
......................................................................................................................... 6
1.5. G
ENERAL NOTICE
..................................................................................................................... 6
2. ASYCUBE CONTROL URCAP INSTALLATION AND CONFIGURATION
........................... 7
2.1. I
NSTALLATION
........................................................................................................................... 7
2.2. E
NABLING THE
URC
AP
............................................................................................................ 8
2.3. N
ETWORK CONFIGURATION
...................................................................................................... 8
2.3.1. Asycube network settings .................................................................................................... 8
2.3.2. UR robot network settings ................................................................................................. 10
2.3.3. Connection between the UR robot & the Asycube platform ......................................... 11
3. STANDARD USE OF THE ASYCUBE CONTROL URCAP .................................................... 14
3.1. S
TANDARD CONTROL
.............................................................................................................. 14
3.2. P
ROGRAMMING WITH THE
URC
AP
......................................................................................... 18
3.2.1. Asycube Vibrate .................................................................................................................. 18
3.2.2. Asycube Backlight .............................................................................................................. 21
3.2.3. Offline programming
........................................................................................................... 22
3.3. W
ARNINGS AND ALARMS
........................................................................................................ 23
4. ADVANCED USE OF THE ASYCUBE CONTROL URCAP
................................................... 25
4.1. A
DVANCED PROGRAMMING
.................................................................................................... 25
4.1.1. Smart feeding
...................................................................................................................... 25
4.1.2. Smart centering
................................................................................................................... 29
4.1.3. Sequence node
................................................................................................................... 32
4.1.4. Asycube Terminal
............................................................................................................... 35
4.2. M
ANAGING VARIABLES
&
LOGS
.............................................................................................. 36
6. UR PROGRAM EXAMPLES ......................................................................................................... 38
6.1. E
XAMPLES
’
DESCRIPTION
....................................................................................................... 38
6.1.1. Flexible_pick_and_place_without_vision_feedback ...................................................... 40
6.2. F
LEXIBLE
_
PICK
_
AND
_
PLACE
_
STRUCTURED
_
PLATE
_
WITHOUT
_
VISION
_
FEEDBACK
............ 40
6.2.1. Flexible_pick_and_place_with_vision_feedback ........................................................... 41
6.3. L
OADING AN EXAMPLE
............................................................................................................ 41
7. TROUBLESHOOTING ................................................................................................................... 43
8. TECHNICAL SUPPORT ................................................................................................................ 45