Related Manuals for Nordbo Robotics Mimic Kit
Summary of Contents for Nordbo Robotics Mimic Kit
- Page 1 Mimic Kit for Universal Robots User Manual Ver. 0.1 Nordbo Robotics A/S info@nordbo-robotics.com Agerhatten 27A Entrance 4 +45 81 81 98 81 5220 Odense Denmark Copyright © 2021, Nordbo Robotics A/S. All Rights Reserved.
- Page 2 Copyright Copyright © 2021 Nordbo Robotics. All Rights Reserved. No part of this manual may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying and recording, for any purpose without the written permission of Nordbo Robotics.
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Page 3: Table Of Contents
Setting up the joystick Robot Program Nodes 8.1. Using the “Track” node 8.2. Using the “Teach” node 8.3. Using the “Tune” node 8.4. Using the “Play” node Troubleshooting Mimic Kit for Universal Robots - User Manual – Ver. 0.1 2 of 41... -
Page 4: Introduction
Before attempting to connect the Mimic kit to the robot, it is important to ensure that the robot cannot unintentionally. The robot must therefore be powered off before attempting to connect the sensors to the robot. -
Page 5: Product Information
2.1. Mimic kit introduction The Mimic kit uses a unique electromagnetic sensor that does not require line of sight, enabling users to record and replicate complex movements that are challenging to automate. The Mimic kit records both orientation and rotation, drastically reducing the time spent programming and reprogramming. -
Page 6: Mimic Kit Content
3m 6-pole cable, open- Cable to connect the controller to ended the robot's I/O ports. 1x USB Flash drive USB Flash drive containing URCap and documentation Mimic Kit for Universal Robots - User Manual – Ver. 0.1 5 of 41... -
Page 7: Technical Specifications
Note: The recommended sensor distance is 500 mm although the functioning range of the sensor is up to 1 meter. Be aware that the increasing the distance between receiver and transmitter will decrease precision and increase noise. Figure 2 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 6 of 41... -
Page 8: Nrc-Pt Interface
Voltage Input Receptacle for supplying power. Always use the included power supply or 9-36V at 15W. Compatible with barrel jack using 2,1 mm ID 5,5 mm OD. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 7 of 41... -
Page 9: Introduction To The Web Interface
A live view of the transmitter and the receiver illustrates any movement of the sensor. Below the 3D view is the current position of the receiver relative to the transmitter. Figure 5 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 8 of 41... -
Page 10: Record
The record page allows recording of the receivers’ movements. Using the start and stop buttons, the user can record a movement and export the movement as a CSV file. Figure 6 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 9 of 41... -
Page 11: Hemisphere
Note: It is only possible to track movements inside the selected hemisphere. Be aware of which hemisphere is selected before trying to record a trajectory! Bottom Front Back Figure 7 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 10 of 41... -
Page 12: Network
Note: Enabling DHCP will change the IP address. The controller cannot be accessed without knowing the IP address. The user must therefore be able to identify the assigned IP address to access the controller after enabling DHCP. Figure 8 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 11 of 41... -
Page 13: About
The network page allows the user to see more information about the specific product's firmware version and serial numbers. From this page, the user can update the firmware by uploading files supplied by Nordbo Robotics. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 12 of 41... -
Page 14: How To Access The Web Interface
Step 2 Open Network & Internet settings by right-clicking on the Wi-Fi/LAN icon in the menu. Figure 9 Step 3 Click ”Change adapter options”. Figure 10 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 13 of 41... - Page 15 Step 4 Right-click on ”Ethernet 3” and select “properties.” Step 5 Select Internet Protocol Version 4 (TCP/IPv4) and click “Properties”. Figure 11 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 14 of 41...
- Page 16 Set the IP address to 192.168.1.100 Set the Subnet mask to 255.255.255.0 Figure 12 Step 7 Access the real-time view using a browser by typing the IP address 192.168.1.100. Figure 13 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 15 of 41...
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Page 17: Connecting To Ur Robots
Step 4 Use the supplied RJ45 ethernet cable and connect the controller to the robot control box. Step 5 Connect the power supply to the controller’s VIN-input. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 16 of 41... -
Page 18: Connecting The Joystick
Obs.! Connecting to other inputs than those listed below will require an update of the I/O configuration in the URCap. Figure 15 Power Wire color Grey Blue Black White Brown Default digital input Mimic Kit for Universal Robots - User Manual – Ver. 0.1 17 of 41... -
Page 19: Installing Urcap
6. Installing URCap The software required for using the Mimic kit on Universal Robots is called a URCap. The URCap “nptmimic-X.X.X.urcap” is located on the USB delivered with the Mimic kit. Follow the steps in this section to install the URCap on a Universal Robot e-series. - Page 20 Step 3 Click “Settings”. Figure 17 Step 4 Navigate to System in the left menu and select URCaps. Figure 18 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 19 of 41...
- Page 21 Click the “+” at the bottom. This will open a file browser. Step 6 Find the USB stick and locate the nptmimic.urcap. Click open when highlighted. Figure 19 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 20 of 41...
- Page 22 After installing a pop-up will be displayed with the text “The changes require a restart to take effect.” Restart the robot by clicking the “Restart”. After restarting, the Mimic URCap will be installed on the robot. Figure 20 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 21 of 41...
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Page 23: Configuring The Installation
The installation contains three tabs. The following section will elaborate on the functionality and use of these three tabs: ● General ● Robot workspace ● Joystick Figure 21 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 22 of 41... -
Page 24: Configuring The General Settings
Insert the Mimic IP address. The default static IP address is 192.168.1.100 unless a custom IP address has been defined. Step 4 Click the “Check” button to verify the connection to the controller. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 23 of 41... -
Page 25: Calibrating A Robot Workspace
Mimic Teach node. When using the Teach node, the trajectory is recorded relative to the calibration plate. After calibrating a robot workspace using the calibration plate, the robot will execute recorded paths relative to it. Figure 23 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 24 of 41... - Page 26 Step 1 Navigate to the Robot Workspace tab. Step 2 Click “New” to add a new workspace in which programs can be executed. Figure 24 Mimic Kit for Universal Robots - User Manual – Ver. 0.1 25 of 41...
- Page 27 Mount the calibration tool on the flange of the robot and set it to the default TCP. Note: If the default TCP does is not created, then create and calibrate it. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 26 of 41...
- Page 28 Click the “Set” button next to Point 1 to automatically retrieve the positional values. Step 7 Repeat this process for the remaining points and click Done. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 27 of 41...
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Page 29: Setting Up The Joystick
TCP. Step 3 To use the URcap four inputs are needed. The inputs need to be mapped to the buttons on the joystick. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 28 of 41... - Page 30 Note: The mapping can be changed by changing the index in the combo box. The index is the number of the digital input number. Figure 28 Power Wire color Grey Blue Black White Brown Default digital input Mimic Kit for Universal Robots - User Manual – Ver. 0.1 29 of 41...
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Page 31: Robot Program Nodes
8. Robot Program Nodes The following section describes the process of creating a program using the Mimic kit. Mimic has four different nodes that can be used: Teach & Track Both teach and track are used to record a robot trajectory. -
Page 32: Using The "Track" Node
A higher number means the robot moves faster relative to the joystick. Warning! Do not set the scale to above 2.0 as the robot will become difficult to control! Mimic Kit for Universal Robots - User Manual – Ver. 0.1 31 of 41... - Page 33 Step 9 (Optional) Delete or suppress the Track node if wanting to play or tune the recorded program by the use of the Play or Tune node. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 32 of 41...
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Page 34: Using The "Teach" Node
Select which joystick to use if a pointer or another custom-made attachment is added to the joystick. If nothing is attached to the joystick, then use the default option. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 33 of 41... - Page 35 Step 7 (Optional) Delete or suppress the Track node if wanting to play or tune the recorded program by the use of the Play or Tune node. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 34 of 41...
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Page 36: Using The "Tune" Node
Note: Once pressed, the Record button must not be released before the recording is done. If released unintentionally, it is important to stop the program and start over. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 35 of 41... - Page 37 When the robot is back on the intended path, release the “Move” button. Note: Once the “Move” button has been released, the offset is saved to the trajectory and cannot be undone. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 36 of 41...
- Page 38 Repeat steps 7 and 8 until the program is tuned. Step 10 (Optional) Delete or suppress the Tune node if wanting to play the trajectory by inserting a Play node. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 37 of 41...
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Page 39: Using The "Play" Node
Step 3 Select the robot TCP to use when executing the trajectory. This will be necessary if having attached a specific tool such as a dispensing unit. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 38 of 41... - Page 40 Click the play button at the bottom of the screen to start executing the trajectory. Step 5 (Optional) Adjust the speed of the execution by adjusting the slider in the bottom center of the screen. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 39 of 41...
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Page 41: Troubleshooting
For questions, feature requests, and general support, please visit support.nordbo.io and create a ticket. We highly value feedback on our products and you can help us improve the product by sharing your experience. Mimic Kit for Universal Robots - User Manual – Ver. 0.1 40 of 41... - Page 42 Nordbo Robotics A/S info@nordbo-robotics.com Agerhatten 27A Entrance 4 +45 81 81 98 81 5220 Odense Denmark Copyright © 2021, Nordbo Robotics A/S. All Rights Reserved.