RoboDC_urcap convert DXF file into robot trajectories, from the robot interface! URcaps are plugins to extends Universal Robot fonc onnali es.

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1 Docs» RoboDC RoboDC Urcap URcap created by Pygmatec. Before using RoboDc, you acknowledge that you have read these Terms of Use and agree to the terms of the License Agreement that you can find here: License Agreement RoboDC_urcap convert DXF file into robot trajectories, from the robot interface! URcaps are plugins to extends Universal Robot fonc onnali es. URCaps (1.3) download link (license key required) Ova for VirtualBox link (license key not required) Main objective Conversion of a DXF file to a robot trajectory, from the UR user interface. You can choose which trajectories you want to follow, and chooses parameters for speed, accelera on, blend radius etc.. You can test and adjust the posi on of the display posi on, and the real posi on of the trajectories. Global operation DXF file selec on is made from the "Installa on" view. Then, a program node must be created in any place of the URP program, where the selec on of which trajectories had to be follow, and on which plane. During the URP execu on, when the robot reach the RoboDC program node, the ac ve TCP follow the configured trajectory.

2 Docs» Installa on Installation on a Robot The installa on of the urcap is similar to every urcap. We have to put the RoboDC.urcap in the /programs folder, using a usb for example. Then, we go in the Polyscope setup menu, then in the Urcaps sec on. We have to click the bu on "+", and choose the RoboDC.urcap. Finally, we have to restart the robot, by pressing the "Restart" bu on. On the first launch, RoboDC will ask about your licence key. You have to fill in this field with the key we sent to you when you bought RoboDC URCap.

3 If the key is correct, you are ready to use your new urcap. Installation on URSim For using the URcap in URsim, we have to: Have a ursim that can execute properly the sample com.ur.urcap.examples.mydeamon If you can't run this sample provided by UR, you won't be able to execute properly RoboDC too. Easy way to do configure URsim to run this sample (and every urcap containing a deamon) is star ng the so ware in "sudo" mode. We have to create the "/programs" folder, in the filesystem root folder, without this, URsim can't launch in sudo. We also have to create the "/programs/usbdisk" folder, which simulate a usb mount point, as if it was the robot. It's here where we put the DXF files. Also no ce that URsim is not made to be launch as sudo, and it may have performance issues, for example, in sudo, we can't restore installa on save of urcaps value, but it's working on the robot. It may be possible that even with these change ursim won't launch, then you could try on the robot, or in a tested virtual machine (try this one : Link) Launch procedure for the URSim

4 # Create /programs sudo mkdir /programs # Create /programs/usbdisk sudo mkdir /programs/usbdisk # Create /home/.robodc (Optionnal (if you need debug display)) sudo mkdir /home/.robodc # Copy urcap in /ursim-current/programs.ur5/ cp <.urcap location>/robodc-1.0-snapshot.urcap ~/ursim-current/programs.ur5/ # Launch in NON-sudo for the installation ~/ursim-current/start-ursim.sh # Install the urcap via Setup -> urcaps -> + -> choose the file -> Restart # Launch in sudo sudo ~/ursim-current/start-ursim.sh If even it's s ll not working I would apreciate that you create the debug folder (/home/.robodc) that you try again an execu on, and that you send me the contents of that folder, zipped, to mdi@pygmatec.com Ready to test Virtual-Machine Easiest way to test our so ware is by downloading our custom VM on the link below. Everything's comes totally configured, you just have to import the appliance in a so ware like VirtualBox (VMWare should work fine, but was never tested). One the VM is set, and on, you just have to launch the only shortcut on the desktop, and start using URSim and the RoboDC URCap! VM-Image Here Download

5 Docs» Loading a DXF Loading DXF le DXF files have to be put on usb disk, at the root level (outside of everything). Then we go to the Installa on menu, on the RoboDC sec on. RoboDC ask you which DXF file you want to load, or it display a error concerning the missing usb key (try to unplug-replug if you'r sure it's here, and change view (for example click on feature, then come back to RoboDC)). We now have to configure parameters and validate by pressing OK. The dxf file display on the le. If the display is not clever, it's possible to adjust again the parameters. The blue marker indicate the (0,0) point of the DXF file.

6 Parameters These params dont influct on the trajectories, it's just displaying, to be sure we can see all the lines that are in the file Sampling : Sampling size, it's concerning crircles and arc, and it defines how long lines that compose figures are. More that value is small, More it will be precise, but More me it will take to calculate the trajectory. Zoom : Zoom of the draw Gap _ : Gap of the draw in X or Y, in pixels.

7 Docs» Trajectory Calcula on Calculation of the tool trajectory Once the DXF file in load in the installa on menu, we can calculate the tool trajectory. We have to go in the program menu, and add the RoboDC program node where we want it in the URP (Structure -> URCaps -> RoboDC). Node now appear in yellow in the program. We can now configure parameters in the "Command" tab. But before you have to choose which kind of parameters you want to adjust, to choose its category in the list box. Plane selection First thing you want to do is to set the plane where we will apply the trajectory. You just have to define the plane from the "Installa on" -> "Features" menus, and make it variable. It should now appear in the selec on box on the top right of the RoboDC program node view. How to properly set a plane To have the desired rota on of the dxf file, you have to set the point in this order:

8 The first point define the (x,y,z) posi on of the plane. It correspond to the (0,0) of the dxf file (if no offset are ac ve) Trajectory selection Now, we can choose which trajectories we want to be follow by the tool. Current trajectory is drawn in red, and the already selected trajectories are drawn in green. We can change the current by pressing the arrows bu ons. If we want to add the current to the selec on, we have to press the "Add" bu on. If the Add bu on now display "Remove", the current trajectory is selected (warning: it will be drawn in red, only the bu on text indicate you that it's selected.) Then, we have to set parameters that impact the tool trajectory, and to validate. A wai ng message will appear on screen while the robot is calcula ng, and it will hide when it's over. Node now appear in green. Movement type Movement type : Choices are "MoveL" and "MoveP", which impact the linearity of the "drop" trajectory. You have to properly adjust the speed and accelera on values according to your movement type. Be especially careful when se ng MoveP type.

9 Scale / Offset / Gap You can adjust the trajectory placement with this menu. The drawing won't move or resize, you already set it correctly while you were in the installa on sec on. But you will adjust the (0,0) point of the real plane. The blue marker represent the (0,0) point of the plane, and the grey is for the zero point of the dxf file. No ce that the lenght of the blue marker is 1cm (real cm on the plane), and as you "scale" the trajectory, you may see this marker resizing: it's normal -> the draw size don't change, and the blue marker length s ll represen ng one cm! Scale : Increase or deacrease the global size of the trajectory. Offset _ : Add a gap in X or Y. Gap : Minimum distance to raise the tool (if the distance between 2 dis ncts points on the trajectory is lower than this number, the robot consider theses as equals, and don't raise his tool ) Drop / Raise parameters You can adjust the speed, accelera on, and blend radius for raising or dropping posi on: - Drop is when the tool is touching the base, the ac ve state. - Raise is when the tool is moving to reach next posi on, and is not touching the base. All raise movement are "MoveJ" movement.

10 Save / Generation To complete the trajectory genera on, you just have to click on the "Save/Generate trajectories" bu on, it will save your modifica on, and calculate the trajectories. One it's finish, you can save the program as other UR programme, and save its installa on to. Then, you can reboot, if needed, and run the program as every UR program, by clicking the play bu on.

11 Docs» Limits Limits of the V1 version. This version of RoboDC is s ll a work in progress, and it's missing some fonc onnali es like: - No support of the ellipses - Only one DXF file can be load a a me.