I have a CNC pick and place application that uses a UR10e with a robotiq hand-e gripper to place parts into and out of a CNC machine. When I pick up parts, I’m using the UR palletizing routine. What I’d like to do is use the floating function when gripping the parts, the robot will move a little to a new position, then do a relative move based on that new position from gripping to pick the part out of the nest. Does anyone have any ideas on the best way to make this work? Thanks very much in advance.
Check out the script manual (not the newest, but has the command I’m gonna mention: https://s3-eu-west-1.amazonaws.com/ur-support-site/234367/script_directory_PolyScope5.pdf) for the command “freedrive_mode (freeAxes=[1, 1, 1, 1, 1, 1], feature=p[0, 0, 0, 0, 0, 0])”. I think that’s the “floating” feature you’re asking for, where the robot is essentially allowed to shift a little bit as a result of gripping the part. As for the relative move, you can just use relative moves. There’s a dropdown on the Waypoint node to change from a Fixed move to a Relative move. Just teach one point, then move wherever you want. It records that motion and will repeat it from wherever that move is called later.