Documentation > Mimic UR Software User Manual 2.

Academy
Mimic UR Software User Manual 2.8 Download as
Tutorials Manuals PDF

Version 2.8
Documentation

Content

Marketing Content

Updates
Mimic UR Software User Manual
‍

Getting to Know Mimic UR

Mimic is a software platform that uses a tracking device to track the user’s movements, enabling the user to record and
replicate complex movements that are challenging to automate with robots. Mimic records both position and orientation,
drastically reducing the time spent programming and reprogramming a robot. Mimic UR is a URCap made for easy
installation on Universal Robots and works together with a Tracker from Nordbo Robotics.
Mimic gives the user the following 3 main steps to create a recording:
 1. Record

Academy

Tutorials

Documentation

Content

Marketing Content

Updates
2. Tune (if needed)
 3. Play

Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Mimic UR Contents
Mimic UR
The Mimic URCap stored on a USB.

USB License Key

A USB that unlocks Mimic UR on a UR robot, when a Tracker is connected.

Note: Required from Mimic UR 2.6 and newer versions.

 How to Install and Setup the URCap
How to Install the URCap
Academy

Tutorials

Documentation

Content

Marketing Content

Updates
Academy

Tutorials

Documentation

Content

Marketing Content

Updates
Academy

Tutorials

Documentation

Content

Marketing Content

Updates
Set Robot IP
Go to Settings > System > Network (as illustrated in the picture below). Then set the following settings:
IP address: 192.168.1.99
Subnet mask: 255.255.255.0

Default gateway: 192.168.1.1

‍
Click Apply.
The text "Not connected to network!" should now change to "Network connected!”. If it does not, please check that the
robot is connected to the Tracker's Controller (see Tracker specific manual).
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

How to Configure the Software

‍
Calibrating Tool Center Point (TCP) of the Mimic Robot Pointer
The Mimic Robot Pointer is used for setting up Mimic. The Robot Pointer can be mounted on the robot. The TCP of the
Robot Pointer is calibrated in Polyscope under Installation > General > TCP. The calibration of the TCP of the robot
pointer is:
x=0
y=0

z = 50 mm
The TCP is illustrated below.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Mimic Installation and Setup

 All the settings needed to modify the Mimic URCap can be found under Installation by selecting URCaps and Nordbo
Mimic in the menu.
The contents are categorized into three main tabs:
Get started
Academy
Configure
Tutorials
Manage
Documentation

Content

Marketing Content

Updates

The following sections describes the three categories.

‍
Get Started
The setup Mimic can be achieved with no License activated. Using Mimic will require a License.
To get started with Mimic, the USB License Key has to be plugged in to activate Mimic.
‍
Mimic License
 There are different License options available:
1) USB License Key
2) Mimic Play
The Play License requires activation. If connected to the internet, this can be activated automatically. If not manual
Academy
activation is required. This can be done in Installation > Nordbo Mimic > Manage > License. Follow onscreen instructions.
Tutorials Before starting to work with Mimic, a popup asking to plug in the USB License Key will appear. Once the key is inserted,
Mimic nodes can be used.
Documentation
‍
If activating license manually
To manually activate a license, follow these steps:
Content
1. Scan the "Activation link" QR code
Marketing Content 2. Click "Activate" after opening the link. You will now get an activation key

Updates 3. Press “Activate manually” and input the activation key. If a valid license is found, a green check mark will appear in
Mimic UR on the License page.

Enable Mimic
 To enable the Mimic nodes, the "Enable Nordbo Robotics Mimic" has to be checked (Installation > Nordbo Mimic > Get
Started).
‍

Academy Configure
Configure provides accessto all the settings and options related to:
Tutorials
Trackers
Documentation
Joysticks

Reference frames
Content
Outputs
Marketing Content Conveyors

Updates
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Trackers
On the left side of the interface, a list of trackers that user has access to is displayed. Each Tracker comes with its own
setup requirements. Set the desired Tracker as default.
Unless a custom IP address has been defined, each tracker as a default IP address:
EM Tracker: 192.168.1.100

IR Tracker: 192.168.1.101

FT: 192.168.1.100
Please refer to the Tracker manual for instructions on how to set a custom IP.
 ‍
Smoothing
In Mimic, smoothing sample size is often used to reduce noise when capturing movements
The value for the smoothing sample size is influenced by variety of factors: the physical setup, surface treatment
Academy application and whether or not the robot tool is running while demonstrating the task.
In some cases, it may be beneficial to increase the smoothing of the recorded movement. The user can filter noise in the
Tutorials
estimated position, by using the average of the latest recorded positions as one position. Moving the slider to the right
Documentation will use a higher number in this average and reduce the noise. Note that this will increase the delay between the motions
of the Joystick and the robot.

Content IR Tracker - Align Tracker with the Robot Base

To make sure that the robot follows the movements user demonstrates while holding the IR Tracker correctly, it is
Marketing Content
important that the orientation of the tracker is aligned with the cable from the robot base. To do so:
Updates The Tracker must be powered on and connected
The Y-axis on the Tracker must point in the same direction as the wire at the robot base (see picture below) and be
parallel to the working surface.
Then click “Align Tracker”
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

FT Tracker - Calibrate
The FT Tracker must be calibrated when mounted on the robot. See steps below.
‍
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

The orientation of the FT Tracker is calibrated relative to the robot flange. To calibrate the FT tracker:
1. Press “Calibrate Tracker”. The screen will change to the "Move" tab.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

2. To calibrate the FT Tracker, the Y- and Z-axis of the Tracker must be aligned with the Y- and Z-axis of the robot base.
The Y-axis of the robot is in the same direction as the power cable.
‍
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

3. In Polyscope, click "OK"

Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Joysticks
On the left side of the screen there is an overview of all the pre-installed joysticks as well as options to:
Add a new one
Rename existing ones

Copy
Set as default
Delete
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

All preinstalled joysticks have preset TCPs. The preset TCPs cannot be modfied.
‍
Each selected joystick provides a visual, guiding user through calculations needed to calibrate the joystick correctly:
position and rotation values from the origin of the coordinate system of the used Tracker to the TCP of the Joystick.

Besides joystick calibration, there is also a possibility to map the Mimic functions, Move, Record, Forward and Backward,
to different buttons on the joystick itself or to external button controls. Click "Remap" to do so.

For more Indepth guidance on Tracker-specific joystick and custom joystick calibration, please see Tracker-specific
Manuals.
‍
Reference Frames
The Reference Frame tab is used to specify where to execute Trajectories that have been recorded using the Mimic Teach
node. When using the Teach node, the Trajectory is recorded relative to the Reference Plate. When executing the
Trajectory with a Play or Tune node, it is executed relative to the Reference Plate. The Reference Frame is the position of
the Reference Plate relative to the robot base.
 Reference Frame: The position of the Reference Plate relative to the robot base.

Recording a Trajectory:

Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Playing a Trajectory in a Reference

Frame:
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Adding a Reference Frame

Use the Robot Pointer to add a Reference Frame.
Step 1. Mount the Robot Pointer on the flange of the robot.
 Note: Make sure that the TCP for the moving to calibration of a reference
Robot Pointer is calibrated before frame
Academy
Step 2. Calibrate the Reference Frame
Tutorials
Use the Reference Plate to calibrate the Reference Frame.
Documentation This provides the position for X, Y, Z, and rotation RX, RY, RZ (RPY) values needed to create the Refernece Frame.

Content

Marketing Content

Updates

Note: It is important that the Reference Plate is not accidentally moved when the points are being calibrated, and that
the calibrated point has the same number as marked on the Reference Plate . It is recommended to fasten the Reference
Plate with screws, if possible.

When pressing “Calibrate”, the user is taken to a three-point calibration of the Reference Frame:
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

1. Select the calibration tool in the “Robot TCP” drop-down menu

2. Press "Set" to set the position (pressing "Set" will change the screen to the "Move" tab)
3. Repeat the same procedure for Points 2 and 3
4. Once all three points have been captured, press “Save” and complete the Reference Frame calibration process

"Move here" can be used to check the position. Pressing this button will make the robot go to the point.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Outputs
The Outputs page allows the user to select which outputs to record.
Before recording a Trajectory using Teach or Track, the outputs to record can be configured in the Outputs tab. By
default all outputs are recorded, even if not used actively. Remember to deselect the outputs that should not be
recorded.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Conveyor Setup
The conveyor setup page allows for the setup of a conveyor belt to use with Mimic. Once setup, Mimic can move recorded
Trajectories along the conveyor belt.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

To use conveyor tracking while using the Track or Play node, a conveyor must be configured first.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

The user needs to define what inputs the encoder is connected to, the type of encoder, the number of encoder ticks pr.
meter, and the direction of the conveyor.
Manage
Trajectories
Trajectories tab provides an overview of all the trajectories recorded using either Track or Teach. In this part of Mimic
software, users can:
Rename Trajectories

Export Trajectories to a USB

Import Trajectories from a USB
Copy Trajectories

Reset Trajectories
Remove Trajectories
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Licenses
There are two types of licenses:
1. USB License Key. With Mimic License you can Track, Teach, Tune and Play the recorded trajectories. You have access to
all the features and controls that Mimic UR offers.
2. Mimic Play License. Let’s you run previously recorded trajectories. The license is not locked to a specific robot, which
allows users to move it anduse it on another UR robot.
With internet connection, Mimic can automatically detect and activate both licenses.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

If license activation cannot be executed automatically, user is guided through the process as shown in the screen bellow:
1. Enter the License Key
2. Scan the QR code to access the activation ID

3. Enter the activation ID

Academy

Tutorials

Documentation

Content

Marketing Content

Updates

How to Use Mimic

Robot Program Nodes – An Overview of Mimic UR Nodes
The following Section describes the process of creating a program using Mimic.
The four Mimic UR nodes:
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

The following sections gives an overview of the different nodes and what they can do.
‍
Play
The Play node executes Trajectories recorded using the Teach and Track nodes.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Teach
The Teach node is used to record Trajectories relative to the Reference Plate. The position of the Joystick’s TCP is
recorded, making it easy to record a Trajectory following a complex path.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Track
The Track node is used for teleoperating the robot which can be recorded.
When using this node, the robot mimics the movements of the Joystick in real-time, making it easy to see the exact
movements being recorded.
 Tune
Trajectories recorded using the Teach and Track nodes can be adjusted using the Tune node.

Academy

Tutorials

Documentation

Content

Marketing Content

Updates

General Information About the Nodes

All Mimic nodes have the same structure. As an an example of a node, see the Track node below.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Except from Play, all Mimic UR nodes have two views:

Setup
Features
Setup enables the user to setup the desired settings for the Trajectory. This must be setup before any recordings can be
made and features applied. The symbol "*" in indicates fields that must be filled.
Features enables the user to add use additional features to create the desired Trajecory.
‍
All nodes have a "Continue" button in the top right corner. This button enables the user to continue in the program tree.

All nodes have a Control Panel in the button. Here the timeline of the recorded Trajectory is displayed along with control
buttons. These buttons varies between the four nodes.
Academy Move - allows the user to move the robot with the used Tracker and Joystick
The “Move” button canbe released and clicked at any time during programming to stop/continue the tracking of
Tutorials movements while recording. When the “Move” button is released, the recording will pause until the button is pressed
again
Documentation
Record - allows the user to record the movements made
Be aware that starting a new recording without changing the name will delete the previous Trajectory and begin
Content
recording a new
Marketing Content Backward - allows the user to wind backwards in a recorded program.
Be aware that backtracking and recording a new movement will overwrite the Trajectory recorded after this point
Updates
Forward - allows the user to wind forwards in a recorded program
‍
The UR program must be running to use the Mimic nodes. When a UR program is running it looks like this:
 Using the Track Node
Setup
Academy In Track, Setup view enables the user to setup the following:
Name - name the Trajectory with a meaningful name.
Tutorials
Robot TCP - Select the robot TCP to use.
Documentation Choosing the “Active Robot TCP” option will use the active TCP, not the default TCP selected in Installation > Basic
Joystick - Select which joystick to use. The joystick that has been set as default in Installation will be pre-selected.
Content Conveyor - Optional step. Select which conveyor belt to use, if any. Selecting “No Conveyor” means no conveyor
tracking will be used.
Marketing Content

Updates

Features
In Track, Features view allow the user to use the optional features:
Align robot orientation to the Joystick.
 Constrain robot movements - Lock one or more axis of movements (X, Y, Z and RX, RY, RZ) for the robot by switching
them on/off.
The position is locked relative to the feature selected in the combo box. These are the standard UR features, and can
be added under Installation > Features. The orientation is locked relate to the TCP.
Academy
Scale joystick movements by - The movements of the Joystick can be scaled by specifying a scale. A higher number
Tutorials means the robot moves faster relative to the Joystick.

Documentation
Example: With a scale set to 2.0x, the robot will move 20 cm when the Joystick moves 10 cm.
Be aware that increasing the scale above 1.0x will make the robot move faster than the user.

Content

Marketing Content

Updates

Using the Teach Node

Setup
In Teach, Setup view enables the user to setup the following:
Name - name the Trajectory with a meaningful name.
Joystick - Select which joystick to use. The joystick that has been set as default in Installation will be pre-selected.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Features
In Teach, a Teach Frame needs to be specified to use Teach.
The Teach Frame is created using the Reference Plate. When using the Teach node, the Trajectory is recorded relative to
the Reference Plate. When executing the Trajectory with a Play or Tune node, it is executed relative to the Reference
Plate. The Reference Frame is the position of the Reference Plate relative to the robot base.
To add a Teach Frame (IR Tracker specific):
1. Position the Reference Plate close to the working piece

2. Place the Tracker in the Reference Plate

Be aware that the Tracker must be visible for the Lighthouse
3. Press "Set up"
4. Press "Calibrate" in the popup
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Using the Tune Node

Setup
In Tune, Setup view enables the user to setup the following:
Filter between Trajectories recorded with either Track or Teach

Trajectory - Select the Trajectory to Tune

Robot TCP - Select the robot TCP to use
Choosing the “Active Robot TCP” option will use the active TCP, not the default TCP selected in Installation > Basic
Joystick - Select which joystick to use. The joystick that has been set as default in Installation will be pre-selected
Set Outputs - Activate the recorded outputs while playing
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Features
In Tune, Features view allow the user to use the optional features. These are split into three categories:
Position
Speed
Output
‍
Position
Constrain robot movements - Lock one or more axis of movements (X, Y, Z and RX, RY, RZ) for the robot by switching
them on/off.
They will be locked relative to the feature selected in the combo box. These arethe standard UR features, and can be
added under Installation > Features.
Scale joystick movements by - The movements of the Joystick can be scaled by specifying a scale. A higher number
means the robot moves faster relative to the Joystick.
Example: With a scale set to 2.0x, the robot will move 20 cm when the Joystick moves 10 cm.
 Be aware that increasing the scaleabove 1.0x will make the robot more difficult to control as its movement willbe
faster than the user’s.
Correction interval - sets the interval in which the Tuning in position is made.
Academy Three options are available (illustrated below):
- Global (thiswill apply Tuning to the entire recorded Trajectory)
Tutorials - Wide-local (this will applyTuning to an interval of the recorded Trajectory)
- Local (this will apply Tuningto a smaller interval of the recorded Trajectory)
Documentation

Content

Marketing Content

Updates
Academy

Tutorials

Documentation

Content

Marketing Content

Updates
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Speed
Overwrite Robot Speed - overwrite the specific speed that the robot moves with.
To overwrite Robot Speed:
1. Press the "Overwrite Robot Speed" toggle and select the desired speed.
2. Move Forward and Backward to set the speed in a desired interval.
3. Press the "Override Robot Speed" toggle again. The specified speed has now been changed in the interval.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Outputs
To overwrite outputs in a desired interval:
1. Press the "Overwrite Outputs" toggle and select which outputs should be active.
2. Move Forward and Backward to set a desired point.
3. Press the "Override Outputs" toggle again. The outputs have now been changed in the interval between the two
points.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

Using the Play Node

Setup
Filter between Trajectories recorded with either Track or Teach.
Trajectory - Select the Trajectory to Play.
Robot TCP - Select the robot TCP to use.
Choosing the “Active Robot TCP” option will use the active TCP, not the default TCP selected in Installation > Basic
Conveyor - Optional step. Select which conveyor belt to use, if any. Selecting “No Conveyor” means no conveyor
tracking will be used.
 Reference Frame - Only applies to Trajectories recorded with Teach. Select the Reference Frame to execute the
Trajectory in.
Set Outputs - Activate the recorded outputs while playing.
Academy

Tutorials

Documentation

Content

Marketing Content

Updates

How Outputs are Captured

While recording with the Teach and Tracknodes, all outputs are saved, unless turned off in the installation. The outputs
are then played back again while executing the Trajectory with the Tuneand Play nodes.

Frequently Asked Questions

Which versions of Universal Robots' Polyscope is Mimic UR compatible with?
CB Series: 3.14
eSeries: from 5.9 to 5.13
 Why does the tracking sometimes become imprecise or noisy?
If the tracking becomes imprecise or noisy, it could be one of multiplereasons, depending on the Tracker used. Check the
Tracker manual for more info.
Academy

Why is Mimic unable to connect to the Tracker?

Tutorials
If Mimic is unable to connect to the Tracker, please check or do the following:
Documentation Check that all cables areproperly connected.

Check that the Robot IP is set correctly.

Content Check that the Tracker IP isset correctly.

Marketing Content Make sure that only one robotor computer is connected to the Tracker.
Restart the Tracker.
Updates
Restart the UR Robot.

Please see the Tracker manual for more info.