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ur10_robot_arm:drawing_with_the_ur10_v2 [2023/02/08 04:34] – [Set-Up] formlab | ur10_robot_arm:drawing_with_the_ur10_v2 [2023/02/08 07:10] – [Connect the computer to the robot] formlab | ||
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* Make sure Rhino and Grasshopper 7 are installed | * Make sure Rhino and Grasshopper 7 are installed | ||
* Install the [[https:// | * Install the [[https:// | ||
- | * ' | + | * '' |
- | * Download the [[https:// | + | * Download the [[https:// |
- | * Place at least one pair of XML & 3DM files inside a folder named ' | + | * Place at least one pair of XML & 3DM files inside a folder named '' |
- | * ' | + | * '' |
=== Open Grasshopper file === | === Open Grasshopper file === | ||
Line 26: | Line 26: | ||
* Researchers > Unfold > '' | * Researchers > Unfold > '' | ||
* Rhino starts up and automatically loads the connected file '' | * Rhino starts up and automatically loads the connected file '' | ||
- | * In the Grasshopper file, the logic is defined | ||
- | * The Rhino file is used to load and position vector images, so Grasshopper can use it. | ||
- | === Turn on the robot === | + | In the Grasshopper file, the logic is defined. \\ |
+ | The Rhino file is used to load and position vector images, so Grasshopper can use it. | ||
- | * **Define | + | === Connect |
- | * Use the wizard | + | |
- | * Set the current TCP as default | + | Turn on the robot. |
- | * Save the settings in the installation tab. | + | |
- | * **Connect the computer to the robot** | + | == Connect the computer to the robot == |
- | * Use an ethernet cable going over a switch. Connecting directly to the robot doesn' | + | |
- | * Use the MiniDisplay to Ethernet adapter that is labeled Formlab. I had another one (the same model) | + | |
- | * **Get the current pose into Grasshopper** | + | * **Don' |
- | * On the top of the sketch, switch to '' | + | The robot won't be able to connect to the network. Use a separate switch or remove all the connections except the one going to the robot and the computer. |
- | * In the section '' | + | * If you use a laptop: |
- | * Press '' | + | |
- | * Verify if it's the same pose as the real robot. | + | * IP address: 192.168.185.99 |
- | * This defines the **home position** of the robot. | + | |
- | * **Define the work frame** | + | |
- | * Touch the TCP of the robot arm on 3 points of the work frame: left bottom, right bottom, right top. | + | * Preferred DNS Server: 0.0.0.0 |
- | * After every position, in Grasshopper, | + | * Alternative DNS Server: 0.0.0.0 |
- | * When done, two grey area's show up in Rhino. | + | |
- | * The light grey area is the place where the drawing will happen | + | |
- | * The dark blue area is the place to put the vector image. Look at the numbers (0, 1, 2) for orientation. | + | == Define the TCP == |
- | * **Load vector file** | + | |
- | * in Rhino, import a vector file (SVG for example) | + | * Use the wizard on the teaching pendant |
- | * Position it in the dark blue rectangle. Look at the numbers (0, 1, 2) for orientation. | + | * Set the current TCP as default |
- | * In Grasshopper, | + | * Save the settings in the installation tab. |
- | * Right-click on it and select '' | + | |
+ | |||
+ | == Get the current pose into Grasshopper | ||
+ | |||
+ | | ||
+ | * In the section '' | ||
+ | * Press '' | ||
+ | * Verify if it's the same pose as the real robot. | ||
+ | * This defines the **home position** of the robot. | ||
+ | |||
+ | == Define the work frame == | ||
+ | |||
+ | | ||
+ | * After every position, in Grasshopper, | ||
+ | * When done, two grey area's show up in Rhino. | ||
+ | * The light grey area is the place where the drawing will happen | ||
+ | * The dark blue area is the place to put the vector image. Look at the numbers (0, 1, 2) for orientation. | ||
+ | |||
+ | == Load vector file == | ||
+ | |||
+ | | ||
+ | * Position it in the dark blue rectangle. Look at the numbers (0, 1, 2) for orientation. | ||
+ | * In Grasshopper, | ||
+ | * Right-click on it and select '' | ||
* Use the Sim time dial to simulate the program. | * Use the Sim time dial to simulate the program. | ||
- | * **Send the program to the robot** | + | |
- | * Click '' | + | ==== Draw with the Robot ==== |
- | * The first time you might need to click 2x | + | |
- | * It is successful when a popup appears on the teaching pendant | + | === Send the program to the robot === |
- | * **Run the program on the robot** | + | |
- | * Before the popup appears, go to the '' | + | |
- | * Click '' | + | * The first time you might need to click 2x |
- | * The program can also be stopped by clicking on the stop-icon on the teaching pendant. | + | * It is successful when a popup appears on the teaching pendant |
- | * The robot will move from it's current position to the home position, and from there to the targets defined in the program. | + | |
+ | === Run the program on the robot === | ||
+ | * Before the popup appears, go to the '' | ||
+ | * Click '' | ||
+ | * The program can also be stopped by clicking on the stop-icon on the teaching pendant. | ||
+ | * The robot will move from it's current position to the home position, and from there to the targets defined in the program. | ||