The latest URCap update introduces a series of improvements designed to make robot programming even more intuitive, organized, and powerful. Let’s take a closer look at what’s changed and, most importantly, how these updates can simplify your daily workflow.
Cleaner Programming with the New Dedicated Node
Program selection has been moved to a dedicated, separate node. This means you can now enter the desired program number directly or load it from a variable, offering maximum flexibility.
The result? Tightening operations can be grouped into practical, reusable subprograms, making your robot programs much cleaner and drastically reducing repetition.
More Versatile Force-Follow
To ensure maximum compatibility with different setups, the force value for the force-follow function can now be set to negative values. This is especially useful when the tightening direction aligns with the Z-axis due to your TCP configuration.
Bugfix: Correct Handling of Decimal Values
An important improvement affects the “PICKUP SCREW” command: the time value is now correctly interpreted even when Polyscope is set to languages that use a comma as a decimal separator (such as French). This ensures greater reliability, particularly when fractional time values are required.
A Practical Example: Optimizing Tightening with Subprograms
Thanks to these updates, organizing tightening steps into a dedicated subprogram has never been easier.
In our example, the “Screw Tighten and Backoff” subprogram follows three main steps:
- Set the KDU program using the new KDU SEL PR node, with the program number imported from a variable.
- Tighten the screw using the KDU DRIVE SCREW command.
- Back off the robot linearly using MoveL in the Z- direction until 50 mm away (essential to avoid unwanted lateral movement).
This subprogram can be called from the main program whenever needed, without rewriting anything. If you need to change the tightening program, simply update the variable in the KDU SEL PR node: simple and efficient.
Cleaner Screw Pickup
The same approach is applied to the screw pickup subprogram, built with:
- MoveJ to the point above the screw presenter
- KDU SEL PR with a fixed program for pickup
- KDU PICKUP SCREW with a 0.5-second duration
- MoveL back to the pickup point
The advantage? A much cleaner, modular structure. If you ever need to slightly adjust the pickup point or backoff distance, you only need to modify it in the subprogram: the entire robot program will automatically update.
Real Results: 77 Screws, One Screen
Want to see this programming approach in action? Check out our video where 77 screws are tightened in a grid pattern using a compact, clear program that fits in less than one screen:
https://www.youtube.com/watch?v=YOoGc__UtCA
Ready to Upgrade Your Screwdriving Process?
Download the updated URCap plugin here or from the K-DUCER product page and reach out to Kolver for any questions or assistance with your project.
