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Welcome to Universal Robots and Zacobria course. The Technology - Tech. Data

Welcome to Universal Robots and Zacobria course. The Technology - Tech. Data - Hardware - Software – Programming. UR 5 and UR 10.

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Welcome to Universal Robots and Zacobria course. The Technology - Tech. Data

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  1. Welcome to Universal Robots and Zacobria course. The Technology - Tech. Data - Hardware - Software – Programming. UR 5 and UR 10

  2. 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.

  3. Control Robot Control 125Hz Course Generation Regulate joints Position Speed 2 kHz Regulation based on 2 Encoders Motorcontrol Current, 3-phase 25kHz 3-phase PMSM control

  4. Software User Interface:Java Controller: C/C++ OS: Realtime-Linux Embedded: C, ASM

  5. Workspace Mounting foot of the robot The Tool flange Electrical Connections Electrical Interfaces POLYSCOPE user interface Mounting and Start up

  6. 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

  7. Electrical Interfaces Controllerbox

  8. Inputs and OutputsControllerbox Digital and Analog 8 Digital Inputs 8 Digital Outputs 2 Analog Inputs 2 Analog Outputs Max. Load 24 V. Powersupply: 800 mA

  9. Inputs and OutputsTool Digitaland Analog Max. Load 12/24 V. Powersupply: 600 mA

  10. Grafical User Interface (PolyScope) Script Level (URScript) Programming the Robot

  11. Videos of Applications examples. www.zacobria.com

  12. Any questions before we move into the programming ?

  13. Singularity. I/O programming. Script Programming.

  14. Command: Move

  15. „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.

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