URCaps

Description

The Remote TCP and Toolpath URCap allows you to set Remote Tool Center Points (RTCP), where the tool center point is fixed in space, relative to the base of the robot. The Remote TCP and Toolpath URCap also allows for programming waypoints and circle moves, and generating robot motion based on imported toolpath files defined in third-party CAD/CAM software packages.
The Remote TCP URCap requires your robot to be registered before use (see Robot Registration and License File). The RTCP works in applications that require the robot to grasp and move items, relative to a fixed tool. The RTCP is used together with the RTCP_MoveP and RTCP_CircleMove commands to move a grasped part with constant speed, relative to the fixed tool.

Similar to a regular TCP (see ) you can define and name an RTCP in the Installation Tab’s Setup.

You can also complete the following actions:

  • Add, rename, modify, and remove RTCPs

  • Understand the default and active RTCP

  • Teach RTCP position

  • Copy RTCP orientation
Setting the Remote TCP from a Feature

Set an RTCP using a Feature to allow the robot to be jogged relative to the RTCP while creating RTCP Waypoints and RTCP Circle Moves.

  1. Tap the plus icon to create a new RTCP RTCP. Or select an existing RTCP in the drop-down menu.

  2. Tap the Copy values from a point feature drop-down menu and select a Feature. Verify the RTCP orientation values update to match that of the selected Feature.

 
Remote TCP Movement Types  
RTCP_MoveP

Similar to a regular MoveP, the RTCP_MoveP defines the tool speed and acceleration the Robot Arm moves relative to the Remote TCP. See .
RTCP Circle move

Similar to a regular Circle move, the RTCP Circle move can be added to an RTCP_MoveP to make circular movements. See .

The maximum speed of a Circle Move may be lower than the specified value. The circle radius is r, the maximum acceleration is A, and the maximum speed cannot exceed Ar due to centripetal acceleration.

 
Remote TCP Waypoint

Similar to regular waypoints, RTCP Waypoints allow a tool to move linearly using constant speed and circular blends. The default blend radius size is a shared value between all the waypoints. A smaller blend radius size sharpens the path turn. A larger blend radius size smoothens the path. RTCP Waypoints are taught by physically moving the Robot Arm to a desired position.

 
Teaching Remote TCP Waypoints

  1. In the Program Tab, insert an RTCP_MoveP node.

  2. On the RTCP_MoveP node, tap Set to bring up the Move screen.

  3. On the Move screen, use Teach Mode or Jog to position the robot in a desired configuration.

  4. Tap the green check mark to validate.
Configuring an RTCP Waypoint

Use blends to enable the robot to smoothly transition between two trajectories. Tap Use Shared Blend Radius or tap Blend with radius to set the blend radius for a waypoint from an RTCP_MoveP.

A physical time node (e.g. Move, Wait) cannot be used as a child of an RTCP_MoveP node. If an unsupported node is added as a child to an RTCP_MoveP node, the program fails to validate.

 
Remote TCP Toolpath

The Remote TCP and Toolpath URCap generates robots motions automatically, making it easier to follow complex trajectories accurately.
Configuring a Remote TCP Toolpath

  1. Select Remote TCP Toolpath Moves on the Remote TCP & Toolpath URCap Home Page to enter the workflow.

  2. Follow the instructions under the Instructions Tab.

A Remote TCP Toolpath Move requires the following major components:

  • Toolpath file

  • Remote TCP

  • Remote TCP PCS
Configuring a Toolpath using CAD/CAM Software

A toolpath defines the orientation, trajectoy, speed or (feed rate) and travel direction of the tool.

  1. Create or import a CAD model of a part.

  2. Set up a Part Coordinate System (PCS) fixed to the part.

  3. Create a toolpath relative to the PCS based on part features

  4. Simulate the toolpath motion to verify it meets expectation.

  5. Export the toolpath into a G-code file with .nc file extension.
Importing a G-code Toolpath into PolyScope

  1. Load the toolpath files in the root directory of a USB stick. Toolpath files must have the .nc extension

  2. Insert the USB stick into the Teach Pendant.

  3. In the Header, tap Installation, tap URCaps, select Remote TCP & Toolpath, select Remote TCP - Toolpath Moves, and select Toolpath.

  4. Select which toolpath files to import into Polyscope.

 
Remote TCP

Configuring a Remote TCP for Toolpath Moves

  1. At the first waypoint in the CAM environment, determine the tool orientation.

  2. Use Freedrive to manually grasp the part with the gripper.

  3. Select the location of the Remote TCP

  4. Use the position wizard to obtain the positive values.

  5. Adjust the robot until the desired part pose for approaching the remote TCP is acheived.

  6. Envision the tool orientation at the first waypoint on the physical part. The positive Z-axis direction should point away fromthe part surface.

  7. Create a Plane Feature with the same orientation as envisioned in the previous step.

  8. Set the Remote TCP orientation by copying values from the Plane Feature. The desired part pose is maintained while the toolpath is executed.
Remote TCP PCS

The Remote TCP Part Coordinate System (PCS) is defined as fixed relative to the robot tool flange. Tap the wand, on the PolyScope screen, to activate the wizard to teach the Remote TCP PCS. You can use either of the teaching methods described below.

 

 
Configuring a Remote TCP PCS

Use this method if the PCS can be set on the part surface.

  1. Use freedrive to manually grasp the part with the gripper.

  2. Select a Remote TCP to teach the reference points. For high accuracy, temporarily set up a sharp Remote TCP to complete this teaching process.

  3. Jog the robot for the Remote TCP to touch the origin, positive X-axis and the positive Y-axis direction of the PCS on the part.

  4. Tap Set to conclude the teaching process. The position and orientation values are populated automatically.

Otherwise, use this method.

  1. Select three or four reference points on the part surface.

  2. In the CAD/CAM software, record the X, Y, Z coordinates, relative to the PCS of the selected reference points.

  3. Use freedrive to to manually grasp the part with the gripper.

  4. Select a Remote TCP to teach the reference points. For high accuracy, temporarily set up a sharp Remote TCP to complete this teaching process.

  5. Enter the coordinates for the first reference point.

  6. Jog the robot for the Remote TCP to touch the first reference point on the part.

  7. Repeat steps five and six for the other reference points.
Setting a Variable PCS

For advanced use cases, where the part is not grasped with high consistency, you can set a Variable PCS to adjust the toolpath moves according to the part location and orientation relative to the robot tool flange.

You can create a pose variable tied to an external sensor that can detect the PCS location and orientation.

  1. Set up an external sensor that detects the PCS location and orientation. You must convert the sensor output to the robot tool flange frame.

  2. Verify the PCS is set up relative to the part and the location and orientation are detectable by the external sensor.

  3. In PolyScope, create a pose variable tied to the external sensor output as a variable PCS. Give it a distinct name, for example, variable_rtcp_pcs_1.

  4. Insert an RTCP Toolpath Node.

  5. At the top right corner of the program page, in the drop-down menu, select Variable PCS.

  6. In the Select PCS drop-down menu, select variable_rtcp_pcs_1.

  7. Create an Assignment or Script node to update variable_rtcp_pcs_1 before the RTCP Toolpath Node.
Configuring a Remote TCP Toolpath Node

The following section explains how to use a variable PCS in a Remote TCP Toolpath node.

  1. Access the Program Tab and tap URCaps.

  2. Select Remote TCP Move to insert an RTCP_MoveP node.

  3. Select a TCP and set the motion parameters: tool speed, tool acceleration and blend radius.

  4. Tap +Toolpath to insert an RTCPToolpath node. Delete the RTCPWaypoint node that was created by default, if it is not needed.

  5. Select a toolpath file and the corresponding Remote TCP PCS fromthe drop-down menus.

  6. Adjust the motion parameters if different values are to be applied to the RTCPToolpath node.

  7. Tap Move to First Point to verify the grasped part approaches the Remote TCP as expected.

  8. Test the program in the simulation mode at a low speed to confirm the configurations.

You can ensure the robot motion is identical, each time the toolpath is executed, by adding a MoveJ with a Use Joint Angles set to move to a fixed joint configuration before executing the toolpath. See Move

 
Regular TCP Toolpath Moves

Similar to configuring a Remote TCP Toolpath Move, a regular TCP Toolpath Move requires the following:

  • Toolpath file

  • Regular TCP

  • Plane Feature as a PCS
Configuring and Importing a Toolpath File

This is similar to configuring a Toolpath (see Configuring a Toolpath using CAD/CAM Software) and importing Toolpath (see Importing a G-code Toolpath into PolyScope).
Configuring a Regular TCP

  • Follow the instructions to configure a Regular TCP.

  • Verify the positive Z-axis of the tool points away from the part surface.

 
Configuring a Plane Feature PCS

  1. Create a plane feature by Adding a plane or Teaching a plane. See .

  2. Fix the part relative to the robot base.

  3. Verify the correct TCP is us to create the plane feature. For high accuracy, temporarily set up a sharp Remote TCP to complete this teaching process.

  4. Jog the robot for the Remote TCP to touch the origin, positive X-axis and the positive Y-axis direction of the PCS on the part.

  5. Finish the teaching process and confirm the PCS position and orientation.
Configuring a Toolpath Node

  1. Access the Program Tab and tap URCaps.

  2. Select a TCP and set the motion parameters: tool speed, tool acceleration and blend radius. Select Spin tool freely around its Z-axis. Do not select if the tool must follow the orientation around Z-axis defined in the toolpath file.

  3. Tap +Toolpath to insert a Toolpath node.

  4. In the drop-down menu, select a toolpath file and the corresponding PCS (Plane Feature).

  5. Adjust the motion parameters if different values are to be applied to the Toolpath node.

  6. Tap Move to First Point to verify the tool can move to the first point of the toolpath.

  7. Run the program in the simulation mode, at a low speed, to confirm the configurations are correct.

You can ensure the robot motion is identical, each time the toolpath is executed, by adding a MoveJ with a Use Joint Angles set to move to a fixed joint configuration before executing the toolpath. See Move