Spiral Move
This program example consists of 10 half circles (CircleMove).
The robot starts up and away from the starting of the spiral (waypoint_100) and then move down to starting position (waypoint_1). Notice a CircleMove must always have a starting point which in this case is waypoint_1. The CircleMove itself represents the via point and the end point of the CircleMove.
In this example the transition from one circle to next circle is between the via point and end point of the second half circle e.g. at the transition between waypoint_4 to waypoint_5.
Polyscope Program.
Remarks to the program.
Notice the Blend Radius setting for the overall MoveP property – and the individual Waypoint for the end point of the half circle.
(The via waypoint does not have a Blend property). (Minimum blend radius is 1 mm).
Result – drawn with a pen mounted on a UR5 robot.
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Author:
By Zacobria Lars Skovsgaard
Accredited 2015-2018 Universal Robots support Centre and Forum.
Hi everyone,
What should we do if we want to do the Spiral movement in 3D space? One of my solutions is using CAD file and translate it for the UR5. But I am not sure that how can I do it?
Hi Haniehes
Thanks for the question.
I have not seen methods to import CAD files. Maybe it can be considered to create waypoints as shown in the example and extend to 3D space.
Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.
Also check out the CB3 forum
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HI
Can we do continus mouvement with movej …our robot only do continus mouvement with movep.
Hi Miljan
Thanks for the question.
Yes by using the Blend it is possible to do continuous moves.
Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.
Also check out the CB3 forum
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Hi
I what to reach 1200mm / sec speed with movep but I not no what is the great value for acceleration. I can not reache 700mm /sec speed with no error.
Hi Sdow
Thanks for the question.
That seems beyond the robots specifications and might also require additional safety measures. Possible speed and acceleration are also related to the pose of the robot and the payload.
Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.
Also check out the CB3 forum
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Hi, how to program the UR10 to rotating a screw? Any tips?
Thanks!
Daniel
Hi Daniel
Thanks for the question.
Maybe consider to see the informations at this link
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/ur3-screw-driving-with-the-tool-flange-15371/
Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.
Also check out the CB3 forum
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Thanks! I’ve tried the code but the robot go in protection mode after reach 360° on the last axis.
How to do an infinite rotation?
Hi Daniel
The infinite rotation can be acheived on a UR3.
If more than 360 degree is needed on a UR10 then an external screw driver can be considered like shown in the example shown in the video at this link below.
https://www.youtube.com/watch?v=yBBo6NvYfhM
Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.
Also check out the CB3 forum
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Hi
I would like to move linear robot in direction X and stop when proximity sensor is detected . I used loop but when sensor detect obstacle the robot stop suddenly and i got error the robot stop suddenly .
How to do this correctly .
thanks
Hi sdow
Thanks for the question.
Maybe the speed is too high – so the deceleration is too step causing a stop time too small which result the inertia to make the error.
In motion the deceleration has to be taken into account because a moving object can not go from a certain speed to 0 speed in 0 time.
Depending on the accuracy of the detection to the stop then different approach can be considered.
1. Maybe consider to use a proximity sensor that detect a little distance before the actual stop and the adjust the position of the senor so the stop occur at the desired location.
2. Or maybe consider to move more slowly towards and near the proximity sensor so the deceleration does be so sudden.
Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.
Also check out the CB3 forum
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Interesting. Did you use it for finding a hole? I want to find a hole and I think this is a good solution.
Hi Ford
Thanks for the question.
It was used for blasting moves.
Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.
Also check out the CB3 forum
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