Universal Robots Forum

FEEDBACK REQUESTED: Machine tending training with UR

Machine tending training with UR? Yes we would like your feedback on the outline below of a machine tending training with UR in a fully simulated environment!

Module 1 à Process Analysis

Overview: To be able to automate a machine tending, it’s important to analyze the already existing manual process. The learnings are important for the automated process. If there is no existing process and application will be built up from zero, it’s also important anyway to think about all these things that are covered in this module.

  • Investigate the current manual process of machine tending
  • Review different machine data
    • Lathe
    • Mill (3,4 or 5 axis)
    • Lathe-Mill
  • Machine sizes
  • Machine interface
  • Part Data Identify what…
    • is the size of the parts?
    • is the weight of the parts?
    • material are the parts made of (Ferrous, non-Ferrous, plastic, metal, etc.)
  • What is the process before the part is machined in the CNC machine?
  • Discuss inbound and out bound stations
    • How looks the Inbound and Outbound station?
    • What is the load and unload process?
    • How to open and close the door of the machine? Automatically or manually?
    • How to start and stop the machining
  • Cleaning and measuring of parts

Module 2 à Application Configurations

Overview: There are many possibilities and variations on how a machine tending application can be realized. From how the parts are delivered, which robot and gripper is selected and how it is mounted, to considerations of one robot loading and unloading multiple machines. All these thoughts are covered in this module.

  • Layout of the machine
  • Infeed
    • Conveyor
    • Tray / Pattern
    • Vibration feeder
    • 2D-Vision / 3D-Vision
  • Gripper selection
    • Single or Dual
    • Different gripper fingers
  • Choose the right robot
    • Robot mounting
  • Robot Singularities
  • Handling the contact to cooling lubricants?

Module 3 à Dual TCP Setup

Overview: When realizing a machine tending application with a dual gripper, it’s needed to know how to setup a dual TCP in the Robot-Software and how to and adjust payload and center of gravity in the correct way.

  • Configure TCP, Payload and CoG in Installation
  • Handle TCP, Payload and CoG in a program

Module 4 à Palletizing

Overview: It’s very common to use a palletizing for an In- and/or Outfeed. Therefore, you recap in this module from the core Training how to program a palletizing.


Module 5 à Interfaces

Overview: Depending on the brand of an CNC-Machine there are different interfaces. In this Module we would like to give an overview of the available and useful interfaces to build up a communication between a CNC-Machine and an UR-robot.

  • Common used Interfaces:
    • Communication with digital In- and Outputs
    • Profinet
    • Profibus (what is needed as a UR cannot handle Profibus)
    • TCP/IP

Module 6 à Safety analysis and Concepts

Overview: When creating an application Safety is always a big topic. In this module we will give you an overview to safety concepts and available external safety equipment.

  • Safety Concepts
  • Available external Safety Equipment
  • Considerations to Workpieces and Tools (e.g. sharp edged or grip force)

Module 7 à Programming concepts

Overview: When implementing machine tending applications, there are also some programming tricks that can help with the implementation. These programming concepts are explained in this module.

  • Features and Planes
  • Homing (Manual and Automatic)
  • Force control (for a material-protecting handover of the parts to the machine)