If there is a need for a customized hardware configuration, it can be done in the following way:
Name your specific robot configuration.
Choose what robot you want to use (Ur20 or Ur10)
Choose the type of frame (the base of the cobot).
Choose a lifting kit.
Add height to the mounting bracket. (If you are not using a lifting column, you can use this to set up a custom pedestal.
Select gripper type.
Select conveyor type.
Select conveyor direction.
Choose a side and the width for your conveyor guide.
Click “+ Add configuration”.
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In the advanced option you can set the pallet offset and conveyor distance. |
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Here you can create your own Hardware configuration, enabling you to simulate possible solutions for your project. Creating multiple hardware configurations enables you to compare different solutions to find the one that works best for your project.
The picture will update with your choices and you can both change camera angle and zoom in and out to get a better view of your hardware of choice.
By pressing show dimensions you will be able to see relevant dimensions while creating the hardware configuration
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First you give your robot configuration a name that makes sense for your configuration.
Robot type
Here you choose between UR10, UR20 and UR30. (we also have UR16 available, but it is not by default visible since using a UR16 for palletizing is very challenging when it comes to reach)
Frame type
Here you choose the frame you want to use for the simulation. The frames visible are the ones that are globally available in addition to the frames you have added to your organization.
Lifting column type
Here you choose the lifting column you want to use in your simulation. If you want to use a pedestal instead of a lifting column, you choose “None”.
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Robot mounting bracket
Here you can set the height of a pedestal where the robot is mounted. The bracket height is from the floor of the frame, so the totalt mounting height from the factory floor will be slightly more. Notice the two different heights in the picture.
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Gripper type
Here you choose the gripper you want to use for the simulation. The grippers visible are the ones that are globally available in addition to any gripper you have added to your organization.
Custom gripper
You can choose custom gripper.
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This opens up a new window where you can design your own gripper, to test out dimensions, offsets etc.
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The gripper will be visualtized as a grey box, but will behave as a normal pneumatic gripper. You can also edit the dimensions.
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Offsetbracket type
Here you can add a 50mm, 100mm or 150mm offset bracket in the direction of the tool connector (Y-direction)
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Conveyor type
Here you choose the conveyor you want to use for the simulation. The conveyors visible are the ones that are globally available in addition to any conveyor you have added to your organization.
Conveyor guide position
Here you can choose if the fixed guide on the conveyor is on the left or the right side
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Conveyor direction
Here you can choose if the conveyor comes from the front, left or right.
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Conveyor guide width
Here you can set the width of the conveyor guide. For a simuation it will be the same as the distance from the edge of the conveyor.
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If you set this to a value below 20 mm you will create crashes with the conveyor mock while simulating, so this is not recommended because it will look like the box crashes with the conveyor in the simulation. |
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Advanced
Opens up a new window that enables you to customize you hardware configuration even more.
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Robot - Conveyor distance
Here you set the distance between the center of the robot and the edge of the conveyor
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Conveyor side offset
Here you can move the conveyor to the left og the right of the conveyor. Positive is to the left and negative is to the right
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Conveyor height
Here you set the transportation height of the conveyor
Robot - Pallet side offset
Here you can set the distance between the center of the robot to each pallet edge.
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Robot - Pallet end offset
Here you can move the pallets towards the conveyor or away from the conveyor. Positive value moves the pallet towards the conveyor, while negative value moves the pallets away from the conveyor
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Robot - Pallet vertical offset
Here you can move the robot vertically to be able to simulate if the pallets are placed higher than the factory floor.
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