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Related Manuals for Universal Robots Polyscope
Summary of Contents for Universal Robots Polyscope
- Page 1 INSTALLATION Payload Configuration...
- Page 2 PAYLOAD CONFIGURATION • Payload Mass and Center of Gravity settings in Polyscope must reflect actual payload at all times. • Initial settings are configured under Installation TCP Setup tab. This is sufficient for applications such as dispensing, screwdriving or polishing where the payload remains constant.
- Page 3 PAYLOAD CONFIGURATION • As the centre of gravity moves further away from the robot tool the maximum allowed payload weight decreases. • Each UR user manual shows the relationship for that robot model. The CB3 UR5 graph is shown on the right. •...
- Page 4 PAYLOAD CONFIGURATION • Pick and place example: Confirm payload weight and centre of gravity of empty gripper and set this in Installation TCP Setup tab: = 52mm = 0.8kg...
- Page 5 PAYLOAD CONFIGURATION • Confirm weight of product and CoG distance when held by gripper. = 1.35kg = 180mm...
- Page 6 PAYLOAD CONFIGURATION • Calculate the combined CoG offset of the gripper • holding the product: • When picking/placing update using script command in program: • set_payload(mass, CoG) • mass = payload weight in kilograms (kg) • CoG = a list of three positions [ Cx, Cy, Cz ] in meters (m) •...
- Page 7 PAYLOAD CONFIGURATION • Define variables: • empty_mass = 0.8 • empty_cog = [0,0,0.052] • gripping_mass = 2.15 (0.8kg + 1.35kg) • gripping_cog = [0,0,0.132] • When picking up product call: set_payload(gripping_mass,gripping_cog) • • When releasing product call: set_payload(empty_mass, empty_cog) •...
- Page 8 PAYLOAD CONFIGURATION • When working with multiple grippers on the robot at the same time it is even more important to adjust payload and CoG accurately. • For more complex payload offsets the method listed on previous slides can be used to calculate for different axes.
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