Can I program the points of a palletizing pattern?

General Application Help: How do I?
1

Hi.

We have an UR10, have this process where we set screws through a palletizing process. At each movement the screwdriver is activated and the screw is set before moving to the next. Simple.

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The issue is that we use an irregular pattern and every time the station is set, I have to calibrate all 16 holes (2 sets of 8).

I would like to use pose_trans to determine all positions to the first one, but I can’t figure out how to do it.

I have tried doing it inside the pattern, before the pattern, as a thread and even before the program starts.

Is there a way to set the pattern points outside the pattern?

Thank you very much.

2

cant you work with a corresponding coordinate system and just reteach that? (which you can also do with only one point)

3

if you can show us how your pattern looks we can maybe give you a more precise advise

4

That’s a fair point. A corresponding coordinate system should work, and even a single point can be enough to establish the reference and reteach the rest. Why make it more complicated than necessary?

5

You guys are right, I was complicating it more than necessary. Next time the machine gets worked on, I’ll put them inside a coordinate system.

Thanks.:grin: