Text Engraving with Wandelscript

Tested with Wandelbots 24.4 (not compatible with <24.2)

An example of a minimal application for engraving character strings, e.g. names, with the help of Wandelscript.

To use our platform, please sign up for our Wandelbots Platform program.

Interface	Result

engraving.mp4

Overview

Set-up

Used Set-Up for the demo seen in the project:

• robot: Yaskawa AR 1440 industrial robot
• tool: AMB milling motor 1400 FME-P 230V (for ER20 precision collets)

robot	tool

To get the demo running, import the included robot settings configuration.json (which includes the robot model and TCP) into the settings App on the Wandelbots Home Screen. You can't directly use the configuration with a different setup but they serve as a guide line.

If you are using a virtual robot, you have to change the TCP in the wandelscript from TOOL 1 to Flange and disable the write IO operation.

Usage

This application uses the boilerplate application which is shipped with the CLI.

The Wandelscript located in src/text-engraving, writes the text which is passed as a variable.

The scripts accepts 5 arguments:

• cell_index: the index of the cell in the grid (used in writing_company)
• char_index: the index of current letter (used in writing_names)
• my_name: the name to be engraved
• my_company: the company name
• plate_offset: the offset of the plate, allows to test the engraving in a safe distance

The variables are stored within the ETCD database. Make sure one exists in your cell environment.

If you use a different setup you might need to adjust the script accordingly.

• canvas_in_robot: The script writes the text on an canvas
• home: p2p home position
• TOOL 1 the TCP.
• moving_velocity set to 500
• tool_io is "10010#0001" change it to the correct one if needed

Run Application

npm install

Setup your .env.local to connect to your instance following the documentation.

npm run dev

You can also install this application on the IPC using the CLI client.