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Welcome to Universal Robots and Zacobria course. The Technology - Tech. Data - Hardware - Software – Programming. UR 5 and UR 10. - PowerPoint PPT Presentation
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• Welcome to Universal Robots and Zacobria course.
• The Technology
- Tech. Data
- Hardware
- Software – Programming.
UR 5 and UR 10
Universal Robots was founded in 2005 with the aim to make robotic technology available to all.
Esben Østergaard, one of the founders and current CTO worked with colleagues on their thesis on modular robots. Together they came to the conclusion that the robot market was characterised by heavy, expensive and cumbersome robots. And so the idea of creating a light robot arose.
Robot Control125Hz
Control
Regulate jointsPosition Speed 2 kHz
MotorcontrolCurrent, 3-phase
25kHz3-phase PMSM control
Course Generation
Regulation basedon 2 Encoders
Software
User Interface:Java
Controller: C/C++
OS: Realtime-Linux
Embedded: C, ASM
Mounting and Start up
• Workspace
• Mounting foot of the robot
• The Tool flange
• Electrical Connections
• Electrical Interfaces
• POLYSCOPE user interface
Low weight, 18 Kg and 28 Kg Six-axis Robotic arm Lifting capacity 5 kg (UR5) 10 kg (UR10) Rotation angle per joint+/- 360 Grad Harmonic Drive gears
Modular Design: 2 sizes joints x 3 Bus-based development Servo Motor in each joint
Electrical Interfaces Controllerbox
Inputs and OutputsControllerbox Digital and Analog
8 Digital Inputs 8 Digital Outputs
2 A
nalo
g In
puts
2 A
nalo
g O
utpu
ts
Max. Load 24 V. Powersupply: 800 mA
Inputs and OutputsTool Digital and Analog
Max. Load 12/24 V. Powersupply: 600 mA
Programming the Robot
Grafical User Interface (PolyScope) Script Level (URScript)
• Videos of Applications examples.• www.zacobria.com
• Any questions before we move into the programming ?
• Singularity.
• I/O programming.
• Script Programming.
Command: Move
„Blend“„Blend“ If a "blend is set, the robot is led around the waypoint, so that the robot must not stop at that point. "Blends" may not overlap, so that it is not possible to set a "blend", which overlaps a blend radius of a previous or next point. A stop point is a waypoint with a "blend" of 0mm.
Note to the I / O timingIf the waypoint is a stop point with an I / O command as the next command, the I / O command is performed when the robotstops at the waypoint. However, if the waypoint has a "blend“, the following I / O will run, when the robot reaches the blend.