Transcript Folie 1 - Zacobria - Universal

• 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.
Control
Robot Control
125Hz
Regulate joints
Position
Speed
2 kHz
Motorcontrol
Current, 3-phase
25kHz
Course Generation
Regulation based
on 2 Encoders
3-phase PMSM control
Software
User Interface:Java
Controller: C/C++
OS: Realtime-Linux
Embedded: C, ASM
Mounting and Start up
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Workspace
Mounting foot of the robot
The Tool flange
Electrical Connections
Electrical Interfaces
POLYSCOPE user interface
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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 Outputs
Controllerbox
8 Digital Inputs
Max. Load 24 V. Powersupply: 800 mA
Digital and Analog
8 Digital Outputs
Inputs and Outputs
Tool
Max. Load 12/24 V. Powersupply: 600 mA
Digital and Analog
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 timing
If the waypoint is a stop point with
an I / O command as the next
command, the I / O command is
performed when the robot
stops at the waypoint. However, if
the waypoint has a "blend“, the
following I / O will run, when the
robot reaches the blend.