7. The range of motion of Universal Robots is a complete spherical shape, does it have any blind spots or dead spots?
All 6 joints of Universal Robots can be rotated 360° ±, so the workspace is a complete spherical space within the robot's working range. However, it should be noted that when the robot is close to the boundary of the range of motion, its attitude cannot be arbitrarily specified.
In the cylindrical space directly above and below the base of the robotic arm, it is necessary to avoid moving the tool to the cylindrical space as much as possible, which will cause a certain joint to move too fast when the tool movement speed is very slow, resulting in the robot reporting "protective stop".
In addition, in some locations in the space, the robot will have a "singularity" problem when moving in a straight line, resulting in the robot stopping, which can be avoided by using Movej commands or modifying the robot's posture.
8. What are the requirements for the setting of the movement speed and acceleration of the Universal Robots? What impact do high speeds and accelerations have on the safety, stability and longevity of the robot?
Universal Robots TCP (Tool Center Point) can be set to a maximum speed of 3000 mm/s, and it is recommended to use around 1000 mm/s in the field under cycle time conditions, with the corresponding acceleration appropriately matched. The acceleration is too small, and the speed cannot reach the set value in a limited running distance; If the acceleration is too large, the robot will be triggered to "protect the stop" alarm.
Universal Robots are collaborative robots that generally do not require fencing, so safety parameters, including maximum TCP speed, need to be set on the basis of risk assessment; Universal Robots have a low weight, which affects the stability of the robot arm when moving at high speeds and requires rapid stopping, so it is necessary to optimize the robot movement in the program, such as adding script commands such as stopj() or stopl().
Universal Robots will always monitor the force and power of the joints, and if the speed and acceleration settings are not within the normal range, the robot will report a "protective stop" error message and stop the machine to avoid hardware damage to the joint motors and reducers.
9. Does Universal Robots need to do zero recalibration? When to do it?
Traditional industrial robots usually have a ruler at the joint position, and when the backup battery is out of power or electromagnetic interference, it is easy to lose the zero position, and the zero position needs to be aligned to recalibrate the zero position when the zero position is lost.
Universal Robots uses electromagnetic and optical dual absolute encoders, which can automatically record the current position of the joint after the robot is powered off. All new robots that leave the factory have their individual joint zeros calibrated, as well as all joint spare parts, so under normal circumstances, Universal Robots does not need to do zero calibration.
Zero calibration is only required in the following cases (not due to loss of zero):
When Universal Robots is in the zero position, the degrees of each joint are 0° for the base joint, -90° for the shoulder joint, 0° for the elbow joint, -90° for the wrist 1 joint, 0° for the wrist 2 joint, and 0° for the wrist 3 joint.
In the case of UR5, it is only necessary to recalibrate the zero position when the shoulder joint is replaced by the base or elbow joint, and the wrist 1 joint is replaced by the wrist 2 or wrist 3 joint.
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Polishing and grinding
The robot drives the end of the ...
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Universal Robots – What are the common application areas for industrial robots?
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