Efficient Programming for UR Robots

There are resources out there for how to program individual parts of a UR robot so in this video I show my own complete program that I use for our lathes. I try to make my programs as productive as possible and constantly try new things in hopes to find better strategies but this programming style has run for months on this machine with minimal issues. Hope you like it.
Robot: UR10e
Robot Software version: 5.11
Gripper: phd GRT 3 Jaw
Lathe: Okume LB3000 EX II
00:00 Intro
00:52 Looking into the program
05:40 Features
06:20 Main spindle actions
13:00 Secondary spindle actions
17:00 Machine exit and pallets
20:35 Subroutine for errors
22:23 Handling door actions with threads
26:00 Running the robot
#universalrobots #machinetending #robotics

[@rileydrew1975]

Great video Joshua, I work with UR robots everyday and have sorted through a bunch of videos trying to figure stuff like all of this out. Someone who is starting out programming should really watch this as you do a great job explaining steps clearly

[@joshuayoungers]

Glad you like it, thanks

[@johnson554671]

Thanks for this great introductory tutorial.

[@BNEdynamics]

Nice content, i have been thinking about adding one of these to our shop and I will definitely revisit this many times.

[@chadhoheisel8458]

Nice job Josh! Great video very informative.

[@mikeydk]

Biggest problem I see when people program these, is they get too many moves nested into each other. I try to make my programs as modules, where I use folders to separate the modules. Inside each folder I then got a MoveJ to do the travel moves, then a MoveL nested inside the travel move, where the MoveL is doing the work if inserting or grabbing a part, and when finished it is then going back to the MoveJ it came from. That both gives a structure where it is easy to see where it is doing the actual work, and where it is just traveling between operations, and changing the speed of travel and work is less places to go to edit too.

[@adisharr]

This is solid advice. I usually make things as modular as possible with folders and subroutines. My main program just calls a series of subroutines which makes it very easy to run individual things for testing.

[@BenchdogsUK]

Nice video. Can you let me know what light sensor you use?

[@bobkoudstaal8612]

Great video!!
Is there a possibilty u can show us the relais setup with the cnc controller to the UR system?

[@collinsokara1372]

Very informative video. I’m currently doing an Internship on a Ur3 robot arm. They want me to enable the robot make some cut (more or like writing task). How do you think I should go about such task?

[@Nico5438]

Hello Thank you for this great Video 😊
What do you think about the Payload is the 5kg robot to move 8 Kg parts if the move speed is slower?
Thank you so much

[@joshuayoungers]

Sounds like a job for the UR16, it's basically the same size as the 5 but has a greater payload. But also to answer your question I think the UR5 in that scenario would lose accuracy and throw protective stops often. I don't think it would work smoothly.

[@adisharr]

Absolutely do not use a lower than rated robot. You'll potentially damage the joints if it runs at all or will error out constantly. I would stay 10% under the rated payload.

[@funwitharobot]

I am curious how you justify this as a safe deployment in accordance with ISO 15066 standard?

[@joshuayoungers]

Almost all the movement is in a transient zone and when near possible pinch points the robot speed is sensing for pressure and at very low speed. The operator works well outside the reach of the robot with clear access to its controller. These robots have set inertial limits as well so even if a high speed is programmed, the payload is taken into account and speed is reduced automatically. I mean there are a lot of factors here on why I believe it is safe, is there something you saw that concerned you?

[@funwitharobot]

@@joshuayoungers the EOAT is operating at head/ neck level at a speed greater the 250mms. The machine door or lathe chucks are also not force or power limited. There is nothing stopping someone from being in those restricted zones during automatic operation.

[@joshuayoungers]

Ah, for reference the spindles are just above waist level, the perspectives recorded make it appear higher. The machine cannot run without the doors shut and there is a table in the way probably not shown in the video.

[@theddt125]

I don’t understand feature Plane.
How to set ? How to use?

[@joshuayoungers]

Planes can be set up in the installation tab under features, then there is a teach plane button and it's pretty simple to set one. The way I use them is to keep track of an area or section of program that may move. In the case of this video, all moves inside the machine are set relative to the main spindle. If something happens and I have to reset the location of the robot base. Instead of going back through the program and redefining each waypoint, I just reset the feature based on the main spindle and I'm done. I'm working on a video currently that is all about plane manipulation so if this doesn't explain it hopefully that will!

[@theddt125]

@@joshuayoungers
Thank you. and I have to know feature Conveyer tracking too.
Please explained it to me.
Thank you.

[@Autovetus]

You put a mexican there and tell him what to do , you wont have to go through all this programming hassle to pick part from this turning machine 👨‍🔧