Date Created: August 18th, 2020.

Robots: e-Series

SW version: PolyScope 5.9.1 above is supported and required by the latest ActiNav v1.3.0 release

Universal Robots is pleased to announce the release of ActiNav Autonomous Bin Picking v1.3.0. This new release introduces substantial new features that result in a more than 20% speed improvement in cycle time, the ability to pick more flat and stamped parts, and enhanced path smoothing. It also includes additional new features such as program optimization and debugging tools, user interface improvements and more.

These new features make ActiNav even better suited to solve an ever-expanding list of customer applications. ActiNav v1.3.0 can be downloaded from the UR support site.  

Speed Improvements in v1.3.0 are the result of further parallel processing optimizations as well as path smoothing. During autonomous operation, the robot will not appear to pause in different robot poses and will not change direction sharply. This path smoothing contributes to performance improvements, less wear on the robot as well as being able to run at higher speeds in some vacuum gripper applications.

3D Edge Detection is a new type of matching workflow specifically for parts that can be detected by their well-defined outer edges rather than their volume, such as flat or stamped parts. To select this new workflow, simply check the Find edges box in the Part Page under the Validate Tab.

Program Optimization and Debugging Tools include a new Program Validator and Program Analyzer. The Program Validator can be used at any time, even before pressing play, to discover program setup issues as well as settings that may be outside recommended ranges. The Program Analyzer is found in the Pick and Place Node and is designed to provide real-time path validation feedback. This helps when trying to debug a particular pick and place rule that is either not being executed or is rarely executed.

Bin Page now includes a scan button to enable more easily set bin parameters including the bin floor clipping values.

PolyScope 5.9.1 is supported and required by the latest ActiNav v1.3.0 release.

New Installer no longer requires the use of UR magic files. Rather, after installing the v1.3.0 URCap and restarting the robot, the new installer will automatically update the Autonomous Motion Module (AMM) and provides a status bar to indicate when completed.

This bulletin also contains details about other new features in v1.3.0 as well as updates on UR+ accessories, tech note updates and new ActiNav eLearning modules.

ActiNav Autonomous Bin Picking v1.3.0 Features

3D Edge Detection. ActiNav v1.3.0 now supports two part perception types: Find volumes (formerly called  2 Stage Match) which looks for the total number of matched points on the surface of a model and Find edges which matches based on distinct edges or sharp directional changes in a model. The new Find edges method has a new parameter called Relative Edge Amplitude. To make setting this parameter simple, ActiNav v1.3.0 includes a new grey point cloud button in ActiNav viewer (next to the green point cloud button) so you can easily see the effect of changing this parameter. Simply adjust the parameter, tap scan and then view the part in ActiNav viewer.

Program Optimization and Debugging Tools include a new Program Validator as well as a Program Analyzer. Both are found under the Pick and Place Node.

- Program Validator can be run at any time while creating a program and is used to make sure the program is valid. Previously a validator check would only check for program violations at run-time when pressing play. Now, building a program systematically is easier and you can find and rectify potential program setup issues earlier.

- Program Analyzer is used to improve the performance of a valid and running program. This tool helps analyze pick and place rules with real-time path validation feedback. This helps provide feedback on why a particular pick and place rule is rarely selected. It can also aid in understanding where and why it is failing. This new tool gives further insights into what’s happening inside the Autonomous Motion Module and helps users to more easily optimize their programs.

- Bin Page. ActiNav v1.3.0 contains some changes to the bin page. The UI has been minimally reorganized to include a scan button next to the bin clipping settings. This makes it easier to set the floor and wall clipping planes without having to jump around within the UI.

Additionally, the walls now extrude OUT from the trained points by the user specified wall thickness. Previously they extruded both in and out. This means that with v1.3.0 you should check or re-train your bins and adjust your wall thickness values.

New Installer. ActiNav v1.3.0 contains its own installer. Follow these steps to upgrade your system:

1. Uninstall ActiNav v1.2.1 URCap.
2. Download the ActiNav v1.3.0 installer package here.
3. Unzip the 4 files and place the ActiNav URCap, .deb and md5 files on a USB drive at the root level.
4. Plug the USB stick into the teach pendent and install the ActiNav 1.3.0 URCap.
5. After rebooting, AMM installer will automatically begin. You can view the AMM installation progress bar by navigating to ActiNav's system page.

ActiNav Documentation and Tech Notes

Documentation. ActiNav documentation and tech notes can be found on the UR Support site www.universal-robots.com/support/ by clicking on the ActiNav box or by searching ‘ActiNav.’ The two main documents, Operating Guide and Quick Start Guide, can be found under the article ‘ActiNav Manuals and CAD.’ In addition you can find 4 sample programs as well as several advanced articles about the ActiNav viewer, Clearance Shape creation, integrating a signal light, integrating a safety scanner and optimizing part models in SolidWorks before importing into ActiNav. (Tip: Be sure to hit ‘load more articles.’)

Pneumatic End Effector Hosing Recommendations. If you are using ActiNav with a suction-based pneumatic end effector, be sure to check out this article with updated recommendations on air hose cable management. The article includes a parts list and installation instructions for integrating a coiled cable. https://www.universal-robots.com/articles/ur/actinav-pneumatic-hose-management/

ActiNav eLearning Modules are now available in UR Academy. There are 8 modules in total. The first 6 are for the 6 setup steps as well as 2 modules on pick and place training. There’s almost 1 hour of ActiNav video training content available. Also available on UR Academy YouTube https://www.youtube.com/playlist?list=PLfYer3yvoh1VGuxbzfsLBGpJv2CrooVNU

ActiNav Accessories

Vention ActiNav Medium Bin Picking Frame – UR5e. UR+ Partner Vention has created a standard frame for ActiNav Medium with a UR5e. It can ordered as pieces or fully assembled. The rigidity of the frame and position of the robot, 3D sensor and bin are all optimized. And you can easily create a customized frame from this reference design on their website including adding a placement post. https://vention.io/designs/actinav-bin-picking-frame-ur5e-medium-73090

EinScan SE 3D Modeling Tool. EinScan SE is a moderately priced desktop scanner from Shining3D. It can create 3D .OBJ mesh files for parts that don’t have a CAD file. Distributors or customers looking to scan many parts may find this tool cost effective and easy to use. Please see the tech note detailing what parts are needed and how to use it to scan parts in-house. https://www.universal-robots.com/articles/ur/actinav-creating-your-own-part-models-with-the-einscan-se/ 

Ixon IOT Cloud Platform. The Ixon IXRouter is a supported accessory with ActiNav v1.3.0 and enables secure remote access over VPN, control of the teach pendant and more. Connectivity options include Ethernet, WiFi and 4G/LTE. https://www.universal-robots.com/plus/urplus-components/plug-ins-interfaces/iot-cloud-platform/

ActiNav Communications Opt-in Mailing List

Sign-up. Would you like to stay up to date with ActiNav support and marketing information? Would you like to hear about new ActiNav updates, new software capabilities, be notified of any stability releases, new UR+ accessories, successful applications and more? Then sign up for the ActiNav Mailing List here: https://share.hsforms.com/10ZevqDEPTe2jPbj4JUj3Cg1kep1