Atlas Copco URCap

Power Focus 6000

v1.0.3
Quick start guide
Atlas Copco AB
May 15, 2023

Contents
1 Features 2

2 Prerequisites 3

3 PF6000 configuration 4
3.1 Create source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.2 Virtual station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.2.1 Assign the source to the virtual station . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.2.2 Enable Open Protocol and take note of the port number . . . . . . . . . . . . . . . . 6
3.2.3 Configure the tool to be started remotly . . . . . . . . . . . . . . . . . . . . . . . . . . 7

4 URCap installation 8

5 URCap setup 11
5.1 Connection to PF6000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5.2 Set the TCP (Tool Center Point) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5.3 Toolholder type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
5.4 Configure the screwdriver in PolyScope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
5.5 I/O settings for LRT PowerHEAD (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

6 Troubleshooting 14

7 Known issues 15

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1 Features
• Ethernet/Open Protocol based PF6000 communication.

• PF6000 Tightening program node - simple node to setup a tightening operation.

• URScript functions - Fine grained way for the user to create custom tightening programs. Refer
to atlas_copco_urcap_script_ref.pdf for details.

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2 Prerequisites
• Supported UR cobots: e-series.

• PolyScope version 5.6.x to 5.9.x and 5.11.8+. (5.10.x including 5.11.7 is not supported)

• PF6000 controller with firmware version 3.4+ have been tested. Versions prior to 3.3 will not
work correctly. (URCap will get stuck at "connecting..."). This can be verified in Controller ->
Software -> Current version. Refer to the PF6000 user manual for update instructions.

• Tools: TBP + LRT PowerHEAD, QST and STR. Other tools might work, but has not yet been tested.

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3 PF6000 configuration
It is recommended to use the web interface, navigate to the PF6000 IP address (found in Settings ->
Network in the PF6000 HMI) with an web browser.

3.1 Create source

Create a new source for tightening which should include Psets compatible with the tool. Refer to the
PF6000 controller manual for configuring Psets.

Figure 1: From the home menu, navigate to "Source".

Figure 2: Create a new tightening source by pressing the plus sign in the top right corner.

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Figure 3: Create a new source, here we have created a source with the name "DemoStationSource"
and we have added 4 psets. Note that the identifier number should match the pset id. Make sure to
press the "Apply" button in the lower right corner.

3.2 Virtual station

Make sure a virtual station is configured and connected to the tool that should be used with the cobot.

3.2.1 Assign the source to the virtual station

Figure 4: From the home menu, navigate to "Virtual station".

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Figure 5: Select the virtual station that should be used with the cobot. In the "Task" section press
"Change task".

Figure 6: Navigate to the tab "Sources" in the top right, select the source that was created previously.
Make sure to press apply in the lower right corner to save the changes.

3.2.2 Enable Open Protocol and take note of the port number

Figure 7: Back in the virtual station menu select the Open Protocol menu.

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Figure 8: Make sure Open Protocol is on and take note of the server port number (default 4545). Make
sure to press the "Apply" button to save the changes.

3.2.3 Configure the tool to be started remotly

If the tightening should be started with OpenProtocol (QST, STR, etc) the physical switch (remote
start) behind the screen on the PF6000 has to be enabled. There is also a setting for tool start (trigger)
in the configuration, this should be set to "Digital input". (Note that the tool is still started using
OpenProtocol over Ethernet).
Configurations -> Tool configuration -> <config_name> -> Edit -> Start condition -> Start source =
Digital input

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4 URCap installation
1. Remove any previous versions of the URCap from the robot.

2. Copy the .urcap file to a USB drive.

3. Insert the USB drive to the teach pendant.

4. Press the "hamburger" menu (top right corner) -> Settings -> System -> URCaps then press the
"+" sign.

5. Find and select the .urcap file. Press Open.

6. Restart the robot.

Figure 9: Select the hamburger menu in the top right corner

Figure 10: Press Settings

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 Figure 11: Select System

Figure 12: Select URCaps and press the + sign

Figure 13: Navigate to the .urcap file and press open

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Figure 14: Verify the URCap information and press Restart

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5 URCap setup
5.1 Connection to PF6000
Set the correct IP address to the PF6000 and include the port number to the virtual station that should
be used. Make sure to start the Open Protocol service by pressing "start". The "refresh" button recon-
nects to the controller and downloads any newly configured psets from the controller.

Figure 15: Enter the IP and the port to connect to the PF6000 and the correct virtual station.

Figure 16: Verify that the correct tool is connected and that the correct psets is visible in the pset drop
down.

5.2 Set the TCP (Tool Center Point)

The TCP should be set to the end of the bit or the socket that should be used for the application.
The rotation of the TCP should be configured such that the positive z-axis points in the direction the
cobot should move when following a screw during tightening. The x and y axis does not need to be
configured in any particular way but could be aligned so that teching of the cobot becomes easier.
Refer to the cobot manual for details on how to configure the TCP.

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5.3 Toolholder type
This is a setting that determines how the tool is to be started. For tools such as QST and STR that
Open Protocol "GENERIC_OPC" should be selected. If the LRT PowerHEAD is used select the relevant
version/generation.

5.4 Configure the screwdriver in PolyScope

If the PF6000 Tightening node should be used the "Power Focus 6000" has to be selected as the screw-
driver in Installation -> General -> Screwdriving (this location could vary between PolyScope ver-
sions).

Figure 17: Select "Power Focus 6000" for the screwdriver.

5.5 I/O settings for LRT PowerHEAD (optional)

If an TBP tool is used with the LRT PowerHEAD make sure to select the correct generation for the tool
holder.

• Tool I/O control: In Installation -> General -> Tool I/O select PF6000 if for example the TBP LRT
PowerHEAD is used on the cobot. (No need to change this setting if the tool (QST, STR, etc) is to
be started with Open Protocol)

• Set tool_out[0]to "Low when not running" in Installation -> General -> I/O Setup. This will
ensure that a tool triggered with digital out will be stopped when the program is stopped.

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 Figure 18: Give the PF6000 URCap the rights to configure the tool I/O settings.

Figure 19: Set tool outputs "Action in program" to "Low when not running". This will turn off the tool
when cobot is not executing a program.

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6 Troubleshooting

Symptom Possible cause

The cobot moves away from the screw when Make sure the TCP orientation is correctly con-
performing an tightening figured.
No or wrong psets are showing up in the pset Check the source configuration in the PF6000.
selection

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7 Known issues
All versions:

• When changing the starting position, the PF6000 Tightening root node has to be pressed/visited
before this value is updated. Otherwise the old value will be used when starting the robot.

• If there are 3 "Until" nodes when adding a PF6000 Tightening node check that you are using an
incompatible PolyScope version.

Version 0.0.4:

• When using the tightening node without a starting position a script error is thrown.

Version 0.0.2:

• When setting a Pset in the PF6000 settings node and then using the function ac_set_Pset(<pset_id>)
to set the same Pset the PF6000 controller will report no Pset selected.

• It is not possible to set values larger than 100 mm in the dimensional inputs in the PF6000 set-
tings node.

• The TCP Digital I/O settings is not changed directly when selected in the tool type drop down.

• The functions ac_get_angle() and ac_get_torque() returns NaN if no results are available
in the PF6000 controller. They should return 0 in this case.

Version 0.0.1:

• When using the PF6000 Tightening node with a Pset the Pset might in some cases not be set
correctly. This can be solved by:

1. Add the following script BEFORE the PF6000 Tightening node:

ac_set_Pset ( < pset_id >)
sleep ( 0 . 0 5 0 )

2. Select "(Use active Pset) in the PF6000 Tightening node"

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