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Operation of the URCap Software

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01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443

5.3.2.3 Acceptable Status Conditions

SCHUNK F/T sensors provide status conditions, status bits, to the
UR robot, during operation. The user can set Acceptable Status
Conditions so that the URCap software ignores the status condi-
tion and continues operation. The user sets Acceptable Status Con-
ditions using the following steps:

Net F/T Status Bits

AXIA 80 Sensor Bits

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Содержание FT-AXIA 80 Ethernet

Страница 1: ...Original Software Manual Software Manual SCHUNK Software Module for URCap SCHUNK Sensor FT AXIA 80 Ethernet...

Страница 2: ...e alterations for the purpose of technical improvement Document number 1369443 Version 01 00 05 09 2018 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and o...

Страница 3: ...4 2 Setting up URCap Software 14 4 3 Determining the Tooling Mass and Offset 17 4 4 Uninstalling URCap Software 19 5 Operation of the URCap Software 21 5 1 Sample Rate 22 5 2 View Force and Torque Rea...

Страница 4: ...ust be kept ac cessible for the personnel at all times Before starting work the personnel must have read and under stood this operating manual Prerequisite for safe working is the observance of all sa...

Страница 5: ...all warnings from the robot manufacturer and or the manufacturers of other com ponents used in the installation DANGER Danger for persons Non observance will inevitably cause irreversible injury or de...

Страница 6: ...he manual where they apply 2 1 General Safety Guidelines The customer should verify that the transducer selected is rated for maximum loads and torques expected during operation Be cause static forces...

Страница 7: ...forces and torques into electrical signals The F T sensor provides data to the robot This data is the six degrees of freedom DoF Fx Fy Fz Tx Ty and Tz UR robots have algorithms to use force feedback t...

Страница 8: ...0 Ethernet sensor 1x interface plate assembly 1x Ethernet and power cable with a 6 pin connector and 8 pin M12 connector 1x cable with an 8 pin M12 connector that splits to a RJ45 Eth ernet connection...

Страница 9: ...occurred during shipping Report damage to SCHUNK Verify the components from the packing list are included in the UR Kit Refer to UR Kit 8 for standard components included in the UR Kit 3 1 2 Installi...

Страница 10: ...a F T sensor URCap soft ware is compatible with the FT AXIA 80 Ethernet sensor and other F T Ethernet sensors Contact SCHUNK for help in selecting the proper sensor for your application Refer to Demo...

Страница 11: ...ftware URCap software is installed onto the UR Teach Pendant using a portable USB drive UR Teach Pendant 1 Insert a USB drive that contains the URCap package into the USB port on the back of the UR Te...

Страница 12: ...URCap Software 12 01 00 SCHUNK Software Module for URCap Software Manual en 1369443 3 On the Setup Robot screen click URCaps Setup 4 On the Setup Robot URCaps Setup screen click...

Страница 13: ...e Manual en 1369443 13 5 Select the latest version of the file FT version urcap Click Open 6 On the Setup Robot URCaps Setup screen AXIA Force Torque Sensor appears in the Active URCaps field Click Re...

Страница 14: ...4 2 Setting up URCap Software Perform the following steps to prepare the URCap software to work with the UR robot and sensor 1 On the UR Teach Pendant PolyScope Robot User Interface screen or main men...

Страница 15: ...screen displays Refer to Determining the Tooling Mass and Offset 17 for filling in the fields on the screen On the sidebar click F T Sensor 4 The Force Torque Sensor screen displays Enter the sensor...

Страница 16: ...16 01 00 SCHUNK Software Module for URCap Software Manual en 1369443 NOTE If after clicking Start Daemon and the error message FT Daemon failed appears verify the IP Address entered is correct Repeat...

Страница 17: ...ith no customer tooling installed Mass 0 558 kg Offset to the Center of Gravity in the Z direction 22 8 mm Offset to the Center of Gravity in the X Y directions 0 mm Total Stack Height or Offset from...

Страница 18: ...zero Customer s Center of Gravity in the X Y Z Dir ection The distance in mm from the F T sensor s sensing reference frame origin refer to the customer drawing to the center of gravity of the customer...

Страница 19: ...oftware Module for URCap Software Manual en 1369443 19 4 4 Uninstalling URCap Software 1 On the UR Teach Pendant PolyScope Robot User Interface screen or main menu click Setup Robot 2 On the Setup Rob...

Страница 20: ...ap Software Manual en 1369443 3 On the Setup Robot URCaps screen select AXIA Force Torque Sensor 4 Click AXIA Force Torque Sensor is removed from the Active URCaps field 5 Click Restart The changes re...

Страница 21: ...tware The following section provides information required when using the URCap software during operation of the robot and sensor Communicating with the sensor and UR robot requires a know ledge of Eth...

Страница 22: ...443 5 1 Sample Rate The power on default sample rate for UR robots is 125 Hz 5 2 View Force and Torque Readings While the program is operating the user can view the force and torque readings Select th...

Страница 23: ...ptions Refer to the following table for a list of commands associated with each Program Node Program Node Command Reference Program Node Command Enable Enable Command 27 Disable Disable Command 27 Bia...

Страница 24: ...of the URCap Software 24 01 00 SCHUNK Software Module for URCap Software Manual en 1369443 2 The New Program screen displays Click the Empty Program button 3 The Program screen appears Click the Stru...

Страница 25: ...cture Editor screen appears Click the URCaps tab 5 Click the Program Node To access the Program Node Command click the SCHUNK F T Sensor Command button i Refer to Section Program Node Commands 26 To a...

Страница 26: ...are 26 01 00 SCHUNK Software Module for URCap Software Manual en 1369443 5 3 1 Program Node Commands There are three Program Node Commands that the user can select by clicking on the radio button on t...

Страница 27: ...rts using the internal force sensing of the UR robot 5 3 1 3 Bias Command Biasing is useful for eliminating the effects of gravity tool weight or other acting forces from the force torque data that is...

Страница 28: ...are 28 01 00 SCHUNK Software Module for URCap Software Manual en 1369443 5 3 2 Program Node Options Under the Command tab and on the F T Sensor Options screen the user selects the Logging Level and Ac...

Страница 29: ...tion None No information will be recorded in the log file Error Record information of errors that could cause the URCap to fail Warning Record information of errors and warnings that could degrade the...

Страница 30: ...anual for status codes or conditions Warning RTDE protocol V2 not supported Downgrading to RTDE protocol V1 Universal Robots software version is 3 3 X and needs to be upgraded to 3 4 X or better F T d...

Страница 31: ...configured Starting F T communica tions RTDE Thread safely closed Time run URCap successfully stopped F T Setup completed entering F T forwarding loop The F T sensor was successfully con figured Star...

Страница 32: ...tions SCHUNK F T sensors provide status conditions status bits to the UR robot during operation The user can set Acceptable Status Conditions so that the URCap software ignores the status condi tion a...

Страница 33: ...fer the Ethernet AXIA manual for the AXIA 80 sensor and the Net FT for all other SCHUNK Ethernet sensors 5 3 3 Protective Stop Error Whenever communication between the sensor and the URCap software is...

Страница 34: ...K Demo Program urp a simple demo which moves the robot down until attached cus tomer tooling contacts a surface or a force greater than 2 N The file name is SCHUNK Simple Demo Program urp UR Robot UR...

Страница 35: ...software 6 2 Installing Demo Programs and Setting a Start Position The Demo Programs are installed onto the UR Teach Pendent The robot must be taught a Start position before operating the Demo Program...

Страница 36: ...n the Universal Robots Run Program Screen in the following figure select File Load Select the folder usbdisk Double click the program or select the program Open The Universal Robots Home screen with p...

Страница 37: ...settings the user is prompted to either load the default settings or keep the cur rent safety settings To use the SCHUNK default safety settings click Load Programs Installation To use current safety...

Страница 38: ...nstallation the next time the demo program is run If the user selects Change Installation the default safety set tings are not installed and the user will not be prompted to Load Programs Installation...

Страница 39: ...he fol lowing step Move the robot to a Start Position The user can either use the default Start Position or edit the demo program to teach the ro bot a Start Position CAUTION When initially setting up...

Страница 40: ...are Module for URCap Software Manual en 1369443 Under the Move tab use the manual controls to move the ro bot to the Start Position Click Ok After the robot moves to a Start Position the Universal Rob...

Страница 41: ...se the Disable command Refer to section Program Node Commands 26 for more information on the Enable Disable and Bias commands The tool is moved straight down until the sensor measures a force greater...

Страница 42: ...steps The Simple Demo Program moves the end of the robot arm straight up and down If the sensor detects the force of the robot arm moving down onto an object the robot arm stops and moves upwards agai...

Страница 43: ...that might arise in the field Customer service is available to users who have problems or questions addressed in the manuals NOTE Please read the manual before calling customer service Before calling...

Страница 44: ...and the URCap software Verify that all cables are connected and the sensor is powered Select the Enable Robot button on the error message to re establish communication Protective Stop Error 33 The UR...

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