I want to find an example program of UR glue dispensing

Technical Questions
1

Hi team,
I am new for UR robot. I am working on a glue dispensing application. so I want to find an example (UR CB series) as reference. thanks!

1 Like
2

Hi,

I’ve been working on dispensing a 2 part adhesive from a cartridge using similar equipment as seen on this website. The video on this page shows you what you can expect.

You may need to be more specific in what you have in mind if you want further help :slight_smile:

3

I currently have 5 UR10e all doing dispensing operations.
What questions do you have about it?

4

My application is very simple. I want to the robot can continuously follow an S- shaped path during dispensing.
As attached picture.

S-Shaped

5

You will want to use MOVP (moves the tcp at a steady speed) with a small blend radius to keep the robot on track.

Depending how tight those turns are will probably be your speed limit.

6

hi
small program running a dispenser.
Screenshot 2024-01-18 072516
DO turns on/off my Dispenser
pop op restart program
hope it helps a little

7

Hi @xu.s.2,
I have an example of the trajectory you want to accomplish:

You can find the code here:

You can change movel with movep if you want a constant velocity profile.

8

Hi @Roberto.Ancona
Thank you for providing the program code. Sorry I am unable to download the code and view the video due to firewall. Could you copy complete code and sent it to my email (xu.s.2@pg.com).
This is really helpful for me. appreciate!