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Blend Radius UR robots
#1
Hello!

I'm wondering what's the minimum value of Blend Radius, for the following commands: moveP and moveL (UR Robots).

Thanks for the reply!

Mitja
#2
Hi there,

For UR robots things are a bit different than for other robots.
If I'm not mistaken, the minimum blending radius needs to be 50% or less of the smallest distance between two points in the program.
If you put more then that, the controller get confused.
Let me know if it works.

Have a great.
Jeremy
#3
Hello!

Thanks for the reply.


Are there any restrictions on use as regards the minimum values of these blend radius.

I have found that for the moveP command, the blend radius can be min. 1.0 mm - is this the right information?

What is the minimum blend radius that can be used for moveL command?


Thanks.

Mitja
#4
Hi Mitja,

The minimum blend radius for Universal Robots is 0. This means you deactivate the blending/rounding effect.

Albert
#5
Hello!

Thanks for the reply.

If I set the BLEND_RADIUS_M = 0.00005 m (default is 0.001 m) in the post-processor Universal_Robots_URP, then I get this in the generated robot program:
...
movep(p[-0.270000, -0.069905, -0.009904, 0.000001, -3.102371, 0.494868],accel_mss,speed_ms,0.000)
movep(p[-0.270000, -0.069810, -0.009935, 0.000001, -3.103188, 0.489717],accel_mss,speed_ms,0.000)
movep(p[-0.270000, -0.069715, -0.009966, 0.000001, -3.103996, 0.484570],accel_mss,speed_ms,0.000)
movep(p[-0.270000, -0.069620, -0.009996, 0.000001, -3.104795, 0.479429],accel_mss,speed_ms,0.000)
movep(p[-0.270000, -0.069525, -0.010026, 0.000001, -3.105583, 0.474294],accel_mss,speed_ms,0.000)
movep(p[-0.270000, -0.069430, -0.010055, 0.000001, -3.106362, 0.469164],accel_mss,speed_ms,0.000)
movep(p[-0.270000, -0.069335, -0.010085, 0.000001, -3.107132, 0.464039],accel_mss,speed_ms,0.000)
movep(p[-0.270000, -0.069240, -0.010114, 0.000001, -3.107892, 0.458921],accel_mss,speed_ms,0.000)

blend radius is 0. Why then do not take into account the setpoint of BLEND_RADIUS_M in Postprocessors.

Thanks.

Mitja
#6
Hi there,

Currently, the UR post processor only output blending value with three decimals.
So theoretically, the minimum Blending radius is 1 mm.

You can always modify the behavior of the UR post processor by editing it for your needs.
The "blend_radius_check" function is where you should apply your modifications.
Note that we do not guarantee that it will work properly on the robot with smaller values.

Have a great day.
Jeremy
  




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