Robot

The tomography instrument is using a Universal Robots e-Series for sample loading and unloading.

Coordinate System

The Base coordinate system is a Right-hand coordinate system, where Y is into the robot cable and Z-axis upwards through the centre of the Base joint.

The Tool coordinate system is a Right-hand coordinate system, where Y is away from the Tool connector, and Z is normal to the tool flange.

The Tool offsed will shift the Tool coordinate system as shown.

Documentation:

• Operating Instruction and safety procedure

• User Manual

• Gripper Manual

• Wrist Camera Manual

• Mounting Hole Pattern

• Dashboard Server

Testing

To confirm communication wiht the robot, run Dashboard.py then type:

Enter command: get robot model UR3

The full list of Dashboard server commands is here