I have a UR5 robot mounted on a table, and have the table defined as a feature, so when programming I work in the Tables coordinate system (all waypoints in table coordinates).
Now we have 2 more robots in different sites, and they are mounted on the same type of table, but a bit diffrerent from the first.
So to run programs on all sites the installation file will be different as the table feature is defined differently, and it works fine. But I work in regulated industry (medical) and validation is a big thing, so I would like to have the same URP and installation file on all 3 robots as they need to be validated for āintended useā before use.
Is there a way to store the table feature data locally eg: on the controller PC, so that the table definition follow the physical HW, and then my program can read the table definition of the robot it is running on. From what I can see writing a file to the PC is not supported, so I guess this is not feasable. But do any one have any suggetsions on how the same URP+installation file can be used on all robots?
So far my alternative is to define all 3 robottables in the installation file, and have different ID set on the digital input ports of the robots, and then from that pick the right table feature. But when something changes or a new robot is introduced, all programs (installation files) will need to be changed and trigger a new validation of the program which is not ideal.
Iām probably not fully understanding the issue here, so forgive me if I miss the mark. The Feature definition is saved relative to the Base of the robot it was taught on. Youāre saying the other robots are āa bit different from the firstā so their Feature definition will inherently be different. You CAN use the same installation and URP across multiple robots, but unless the tables are EXACTLY the same offset from the robot base, the robot wonāt be going to the same spot. Youād need to put in different values for the Feature offset.
And since the features are defined in the installation file the installation file can not be the same on all robots unless they are exactly identical. Unless it was possible to store the feature offset data somewhere else (e.g. in a text file on the robot controller PC), and then the robot program could access these data and define the feature accordingly.
If that was possible, the validation would cover both URP and installation file. And the offset data is traeated as calibration data stored on the robot, so as long each robot is ācalibratedā, the validated program can be downloaded and run on any robot.
As it is now a validated URP, will only act as intended if the robot it is running on has not been change by an other user.
The use case is a bit anormal, as the robots are used for product life cycle testing by adding wear to a product (e.g. mating/un-mating a battery to the product the amount expected matings throughout its lifetime, to test that the snaps holding the battery in place will be able to hold the battery after 5 years use) And different development teams use the robots for different product developments, so the robots are being used ad hoc, not handed over to a production line doing the same day in and out.
You can do what youāre describing with a URCAP. You could definitely read/write data to the local SD card anyway. Iāve done that several times. What you DO with that offset data would be up to you, but itās at least possible.
Is the instillation file and variables file for the robot at the location.
Is the program itself.
If you validate the files (1) when deployed then the robot instillation is static and stays the same.
if you validate the Program [URP], it is good on all robots assuming that the instillation file (1) that was validated for them.
When you update the robot program (2) then it can be validated on any robot and deployed to all as the instillation (1) is not changed.
When you deploy a new robot, all you have to do is validate the instillation (1) for that robot and then run your URP (2).
Alternately, you could use a PLC that is connected to them all and send the coordinates over Modbus or Ethernet/IP to each robot and the Before start of the program assigns those to the variable feature in the installation fileā¦. this would mean if you copied it between robots it would update on the next start of program.