Beginner Question so go easy please.
We have purchased a UR3e and are looking to pick and place 100 small items from 1 jig to another. The pattern of the 2 jigs is different, please see attached. Position 1 to 100 are set for both jigs. I know I can program this manually but there must be an easier way. Any help would be appreciated please.
have you looked in templates there should be a palletizing program that can palletize and depalletize parts . i dont know if your jig layout will work easily but it could be worth a try.
You can look into palletizing as @jsiegenfeldta suggest, or else you can teach the first point to a Feature, then just programmatically shift this Feature to re-use the same taught point.
You trade tediousness of manually teaching 100 points for a little math.
While you can definitely do it all with 1 point, seeing as how you’re new, I would start by considering the jig as 2 sets of rows. One which starts aligned right, another which steps in a hole. Teach your whole jig to a Feature using the corners, that way you can skew the jig and still be fine. Next teach all your moves to place a part in slot 1 to this Feature.
Let’s say the X axis is left and right, and Y is up and down. The program could look something like this:
With this, make sure to add a Script node at the top, set it to File, and add this function definition:
def shiftRelativeToFeature(x_offset, y_offset, z_offset, feature, poseToShift):
return pose_trans(feature, pose_add(pose_trans(pose_inv(feature), poseToShift), p[x_offset, y_offset, z_offset,0,0,0]))
end
You would then Copy/Paste this whole double-loop structure for the second row point. Or feel free to modify this to use just 1 point. You can use the % operator to tell if you’re in an Even/Odd row and offset accordingly. But this can get your feet wet with understanding how Features work and how you can shift them around to make your life easier.
those pallet variables are slightly confusing but this is a good approach for sure. you could also just teach 2 pallets of 5x10 and either go through the first full pallet and then come back through the second, or just teach them in an if statement based on a variable being true or false.
Many thanks for your help