My company is looking to use one of our UR10E with QC hub and an OnRobot orbital sander to perform sanding on various metal parts. I am currently attempting to work around the lack of the Hex adapter with the on pendant toolpath creation ability.
I am wondering if it is possible to utilize the UR “Force” module and “MoveP” commands to work around this, or would creating tool paths offline in a CAD program be the only way to use the OnRobot orbital sander without the HEX adapter?
I don’t see why you wouldn’t be able to use the built-in commands.
It’ll take quite a few waypoints, since you will have to teach al corners, but that should be the most difficult part.
The Force command can exert force in the Tool frame no matter what direction the tool is pointing, so that should work just fine, as well.
Also, the FT sensor in the UR can drift over time, so frequent zeroing of the sensor might be necessary - especially when sanding and generating vibrations.
Thank you, I was figuring it should work along those lines. I am being re-tasked to another area for the time being, I will update with solution once I get there on the sanding/grinding. Thank you again.
