Author Topic: ur10 safety popup messages  (Read 83 times)

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Offline mmeeks

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ur10 safety popup messages
« on: November 14, 2017, 02:43:22 PM »
Hi all, I am new to the robot.  We just got one installed and up and running.  When I get an error for sudden change in path (which doesn't happen that often now that I smoothed out movements) I would like to be able to get an output to my plc to tell me the robot crashed.  That way we can log it separately so we know how many times its doing this a day.  Is there any way to make an output for that popup window?? 

Also I was wondering if there is a way that I could write my program from my PC then put it into the teach pendant and just teach the waypoints at that time.  From what I have been reading so far I don't think this is possible at all. 

Last but not least I am doing a pick and place.  I pick a part up from a line which is the same point everytime and it puts it into a box.  It goes 11 rows and 3 high for a total of 33 times.  I have 5 boxes on a circular table but I had to teach the point of each of these boxes, the pattern points, approach, and exit.  These boxes are all the same size and shape is there a way that I can teach 1 box and make it the same for all of them but just moving a variable or something of that nature? Thanks for the help

Mike

Offline DomoArigato

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Re: ur10 safety popup messages
« Reply #1 on: November 14, 2017, 03:09:12 PM »
For finding out when the bot crashed... there are 2 options that I have used before:

1) You can parse the data from the realtime interface with a PC application and get the status bits for the bot.

2) In your program, run a separate thread that keeps changing a Modbus value (say count every second from 0 to 255 and then start over). You can read this from your PLC, when the number stops incrementing, the program stopped.

For programming from PC... you can install VNC on the bot and remotely operate the pendant from your desk.

For putting into a box... with some position scripting in URScript you can take the measurements of the box and compute the relative position movements from a corner of the box position (box origin). That way you can just teach 5 points (the box origin with wrist angle) and then make relative movements from there.

Offline dewitm

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Re: ur10 safety popup messages
« Reply #2 on: November 16, 2017, 12:51:36 PM »
If you are known with basic programming, you could try URScript.
On the webpage of Universal Robot you can find manuals about this.

For example:
set_digital_out(1,  position_deviation_warning(True))

set_digital_out is the command to set a signal
1 is to corresponding outputnummber
position_deviation_warning(True) = crash detection

However, it seems the position_deviation_warning(True) doesn't return a value, so this might not be the solution. But look through the manual and you might find the solution there.
I know there are options where you can return the state wether robot is running or not. But I don't know if this function works with collision. (Collision would be not running)

« Last Edit: November 16, 2017, 12:57:41 PM by dewitm »