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If using the wizard, you must align the tool with the feature by hand. If you need more precise configuration, you can use a CAD program to calculate the orientation and input the precise numbers in the orientation field

At the moment we don't have plans for a URCap series, but maybe at a later date

No, it's not 🙂 To begin your UR journey, we recommen you start with our free e-learning available here: academy.universal-robots.com/free-e-learning/e-series-e-learning/e-series-core-track/

Tool center point

Yes, you can design and build your own end-effector. We don't have a specific template, but you can join our developer network where you can find all the information you need and get help from other developers: www.universal-robots.com/developer/

Hello Ivan. I'm afraid this product has been discontinued.

Oh snap, thanks for the information

Hi Wu. Yes it is possible to use the same commands on the CB-series.

Hi Ivan. Full image is for reflashing the USB. It will delete all data and restore to factory settings. The update file is for updating the existing image on the USB without resetting anything. If everything works as intended, the recommendation is to use only the update file.

@@UniversalRobotsAcademy thanks a lot. I have the last question: is it possible to copy a whole folder?

0! it's a free virtual machine! you can download it from the UR support Site

@@TheOnlyMrSaverdo you know the steps to get it from the UR site or if it’s still available? Thank you

Hi Richard - here are some suggestions to solve your problems: You can find our free online courses here: academy.universal-robots.com/free-e-learning/ Or you can create a post in the UR forums here: forum.universal-robots.com/ If none of the above solves your problem, I suggest you contact the distributor from where you bought the robot to obtain assistance.

You can find a distributor in your area here: www.universal-robots.com/distributors/

No. The payload wizard estimates the center of gravity of both the gripper and workpiece as if they were one physical object. The payload wizard cannot estimate the center of gravity for only the workpiece.

Hi Abby. We don't any guidance on programming this exact example, but in the UR script manual you can find descriptions of all the different commands: help.universal-robots.com/OTHER/ScriptwebG5/Content/prod-scriptmanual/G5/The%20URScript%20Programming%20Language.htm

@@UniversalRobotsAcademy thanks for this! do you need to have a certain version for the "untill --> tool contact" option to be available? I'm currently running URSim and this option is not available for me.

Hi Markus. No, this cannot be done from the TP.

Hello Ivan. Yes it has - on UR robots, frames/coordinate systems are called features. If you are interested in learning how to program UR robots, you can use our free e-learning courses (there's also a module on working with features/frames) academy.universal-robots.com/free-e-learning/e-series-e-learning/

@@UniversalRobotsAcademy thank you for your answer. I will begin today with the module: e-Series pro track. Thanks

Yes you can. In such case you would have to teach two TCPs and switch between them during program run. And in most cases you would need four different payload/CoG settings: both grippers empty, both grippers loaded, gripper 1 loaded (gripper 2 empty), and gripper 2 loaded (gripper 1 empty). You can find an example of a dual-gripper setup in our free machine tending e-learning here: academy.universal-robots.com/free-e-learning/e-series-e-learning/e-series-application-track/

Hello Noe. You need to set the feature (plane) variable to make all MoveJ/MoveL to be related to the feature/plane variable - whenever you change the variable value the plane is changed and the waypoints are moved.

No, all the positions/poses are fixed and stay the same for every cycle run.

Yes, it can be done during program execution. You need to set the feature (plane) variable to make all MoveJ/MoveL to be related to the feature/plane variable - whenever you change the variable value the plane is changed and the waypoints are moved.

How do I call the "align" command from script/ using program nodes?

There is no align script command. Just by changing the feature/plane the waypoints are shifted already. You just need to call on the MoveJ or MoveL tab the new feature/plane and the waypoints will be aligned automatically.

Hi Hediyeh. If you're using a MoveJ, you can change that to a MoveL - that should solve the orientation issue. If you're using a MoveC, try changing from fixed to unconstrained and see the behaviour.

Hello Andreas. No, there is no need to change the waypoint coordinates, the new joint will take over it. There are some small tolerances between each joint manufacturing (less than 0.1mm), that if a high precision is needed after replacing, a Dual Robot Arm calibration can be performed or a TCP recalibration can be done. If you need further information, please contact your UR distributor or local UR support.

More to come!

Hello Edgar. This functionality is only available in our e-Series software.

@@UniversalRobotsAcademy ok Thank you so much.

The magic files used for e-Series are the same ones used for CB-series, but on the support site they are only available under CB-series