UR5 CB3 - Palletizing Speed

Technical Questions
1

Hi there,

I am new to the forum and the realm of robotics :slight_smile:
I am working with a UR5 CB3 and I want to create a prototype for optical part inspection.

The task basically is:

  1. Pick items from a tray - rectangular shape, fixed positions of the parts
  2. Perform the inspection task in between, a software decides if the part is ok or not, and depending on that,
  3. Put the part in the “good” or the “bad” box, again, boxes with fixed positions where the parts should go.

Right now I am in the process of creating the robotic path and inspection sequence. I used the palleting wizard to create 3 pallets. One to pick and two to drop of.

At the pickup box and the good part box, it is critical that the parts are put there with a lower speed. However, I haven’t figured out how to change the speed of the palleting mode. I tried to change the waypoint speeds of the approach and the first pattern point, but it had no influence. The parts are literally hammered into those boxes.

I tried to add a Move command into the palletizing wizard, however it would not compute until I deleted the Move command again.

So far, the search in this forum and chat gpt could not help me with my issue.
So I am counting on you guys and gals here.

Thanks for your help,
Anton

2

If all you want is to change the speed of the movement, then you really just have to change the speed of the corresponding waypoint, as you mention yourself.
There’s nothing hidden or anything. :slight_smile: The waypoint after Approach is the one the robot uses to reach its final position.

3

For whatever reason, the movement speed of the waypoint, did not affect the overall speed. But in the overall pattern functionality, there is a speed function that can be used and worked for me. Found the solution myself - thanks.

Learning: If you need to rotate the gripper, do it before it reaches the palleting wizard, otherwise its super slow