Universal Robots

This page is a guide to help users understand the requirements of setting up a Universal Robots robotic welding system for use with Verbotics Weld. Verbotics also offer consulting and training services to assist with the calibration and setup of a welding system - please contact us for pricing.

TCP Calibration

The real world TCP should be calibrated using the Universal Robots calibration tool. After calibration, it is then suggested that the rotational values are overwritten with theoretical values (that can be supplied by Verbotics) as rotational values are difficult to calibrate using this method.

Care should be taken to ensure that the the Z axis of the tool is pointing outwards along the wire direction.

The TCP calibration should use the expected stickout specified in the workcell model file supplied by Verbotics for the cell and the wirecut routine should be written to cut the wire to this length prior to touch sensing.

Program Generation

Verbotics will provide code as URScript .script files to be loaded on to the robot controller. It is recommended that a single URP program be created on the robot controller, with three sub-program script files. The script files will be:

  • vb_user.script - contains code that you will edit to interface with the welding power source or implement custom functionality.
  • vb_sys.script - contains Verbotics calculation routines that are used between multiple programs.
  • The final script file which is generated by Verbotics Weld for each program.

You will need to populate the code within the following functions in the vb_user.script file. It is recommended that you set up your welding control code with error handling and appropriate safety stops and interlocks.

  • vb_clean_torch
  • vb_cut_wire
  • vb_set_weld_settings(number)
  • vb_arc_on and vb_arc_off

You can also edit the following functions if required for custom functionality. This is commonly used to interface with safety equipment for example.

  • vb_before_run and vb_after_run
  • vb_before_weld and vb_after_weld
  • vb_before_sense and vb_after_sense