zacobria-universal-robots-ur
zacobria-universal-robots-ur

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Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.

Also check out the CB3 forum



8 comments

  1. Hi,

    I have been trying to concatenate 2 strings to send via socket_send_string() but no success.
    The main idea is to create a basic protocol where I can add a prefix and then a value as such as:
    var_1 = “12345”
    var_2 = “camera_value:” + var_1
    socket_send_string(var_2)

    How to achieve this? I know I can send the values in a separate way but it won`t be the case.
    So, how to concatenate 2 strings? Even writing a script like below won`t work:

    def concat(str1, str2)
    # popup(str1 + str2, “Test”, False, False)
    str3 = “%s %s” %(str1, str2)
    popup(str3, “Test”, False, False)
    end

    Thanks!

    1. Hi sylvioalves

      A robot is not really ideal for string handling compared to being a robot. Maybe it can be considered to do string handling externally of the robot and then send the strings to the robot – or maybe work with byte handling instead.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum



  2. Hi Lars

    A quick question. If I have 2 UR robots (UR10) side on side, is it possible to make some collision safety so they won’t move into each other. I have try to search the internet but nothing really came up.

    1. Hi Flemming

      Thanks for the question.

      Maybe it can be considered to setup a plane on each robot so they cannot overlap into each others workspace.

      It is also possible to retrieve the position of a robot – and then send that position over to the other robot – and then make the software on each robot in a way so a robot does not enter the space where the other robot is at – but it requires some substantial programming and sending data back and forth.

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum



  3. Mechanical
    Mechanical hints and tips.

    Select a topic from the drop down menu.

    Edit
    5 thoughts on “Mechanical”

    Dorin Emanuel
    19 – June – 2014 at 15:26
    Hello again. Yes, your understanding is correct. I will look for assistance from our company’s Universal Robots provider.

    With respect,
    Dorin

    Edit

    Reply ↓

    Dorin Emanuel
    19 – June – 2014 at 14:28
    Hello Mr. Lars,

    At a power outtage, the brakes on our UR10 robot didn’t go on and the robot felt with the tool attached. The total weight of the tool is around 3.7 kilos, and in robot installation parameters it was put 5 kilos. The robot was mounted on vertical position, and in that time it was in a waiting position like the one in your site, right side upper banner. That means the robot was standing still keeping the robotic joints motors in current.
    It was expected that brakes are kept rose by applying a voltage to them. In case of missing this voltage, the brakes should go immediately like any other company robot. It’s a safety feature.
    Could you have any explains about this and could you guide me perhaps to a little more documentation about this aspect?

    Thank you.

    Edit

    Reply ↓

    zacopressadmin Post author
    19 – June – 2014 at 15:17
    Hi Dorin

    Thanks for your question.

    I am not sure if I understand you description correct for when there were power and current applied to the robot in the situation.

    The mechanical breaks are spring loaded solenoids that needs power to be disengaged and therefore will engaged if there is no power.

    Maybe ask you robot provider to take a look at the actual situation.

    Regards
    Zacobria.

    Edit

    Reply ↓

    Tom Svilans
    7 – May – 2014 at 01:19
    Hi,

    Are the specs of the servos available anywhere? Do you know what the make / models are of them?

    Best,

    Tom

    Edit

    Reply ↓

    zacopressadmin Post author
    7 – May – 2014 at 08:35
    Hi Tom

    Thanks for your question.

    I have not seen the specs, but I know the gears are Harmonic Drive.

    Regards
    Lars

  4. 80 thoughts on “Preface Universal-Robots CB2 Forum:”

    GANESH P
    30 – December – 2015 at 13:57
    Hi Lars,
    Is it possible to do master reset on UR10 (CB3 Controller) robot.

    Best Regards
    GANESH P

    Reply ↓

    zacopressadmin Post author
    30 – December – 2015 at 13:18
    Hi GANESH P

    Yes by Power cycle. There is also a connector inside the CB3 called “Power” where the robot can be switched by an external button.

    Author:
    By Zacobria Lars Skovsgaard
    Accredited Universal Robots support Centre and Forum.

    Also check out the CB3 forum

    Reply ↓

    srini
    15 – December – 2015 at 20:18
    Hi Lars,
    After switch on the power button in UR10 CB3 controller we get the message as
    The Robot cannot Proceed with Normal Operation
    .Robot :No controller
    Go to initialization screen
    Is this the message we get after we switch on the power button

    Regards
    srini

    Reply ↓

    zacopressadmin Post author
    16 – December – 2015 at 14:51
    Hi Srini

    Thanks for your question.

    That seems to be the normal messages – then you need to go to the initialization screen and On the robot.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Reply ↓

    GANESH P
    14 – December – 2015 at 18:20
    Hi Lars,
    QUES 1: REGARDING SINGULARITY
    If i move from random position to random position in UR10 robot i get singularity issues, is there any method to overcome the issue before i choose the coordinate values.
    QUES 2: REGARDING INTERMEDIATE POSITIONS
    How do i determine intermediate positions between two different positions.
    QUES 3: REGARDING PAYLOAD
    If i move the robot with 10 kg of payload but there is not load in the robot why the robot movement is behaving differently, is it necessary to take care of payload while loading and unloading .

    Best Regards
    GANESH P

    Reply ↓

    zacopressadmin Post author
    14 – December – 2015 at 20:34
    Hi GANESH

    1.
    A way that can be considered is to have safe waypoint positions on the way from the current position cordinates to the target position cordinates.

    2.
    You can consider to choose some intermediate positions that is known to be safe and valid pose for example by testing and verifying the safe positions beforehand.
    By using get_actual_tcp_pose you can know which area (polarity of for example X – Y – Z) of a cordinate system the robot is currently located – and if your target if in another area where for example X or Y or Z has change polarity then consider to to a safe position or positions that is inbetween these from and to cordinates.

    It can help a lot to use the GUI programming because then it is easy to see where a valid safe position is on the way to next position.

    3.
    Yes in TCP configuration you can set the TCP payload and center of gravity. And you can also set payload together with a I/O activation for example when you pickup a load.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Reply ↓

    Erik
    11 – December – 2015 at 22:43
    Hi everyone,

    I have a UR 10 with controller version 1.8.11281.

    I am trying to make it interact with a 3D sensor that gives me the x,y,z,w,p,r of the part and a gripper ID to grab the part in the coordinate system of the robot.

    The communication is working well ( communication through TCP/IP socket), I am able to place the info in a variable point with no problem.

    I have a transformation x,y,z,w,p,r to move my gripper from a common origin with the part to the position around the part corresponding to the ID number.

    I cannot find a way to apply my transformations and get the right angles at the end. Because the UR does not have multiple tools, i am using setTCP() and transpose() but it is sufficient here. Should i apply the transformation around the point or the tcp? How should i apply the transformation?

    How can i apply the transformation to place my gripper in the right orientation around the part? Am i missing something?

    Don’t hesitate to ask for more information. I am in deseparate need for help.

    Thanks

    Reply ↓

    zacopressadmin Post author
    12 – December – 2015 at 10:27
    Hi Erik

    Thanks for your question.

    Below are some links to some study for equations in a 6 degree system. These equations are over my head, but maybe there are others on the forum that also can contribute.

    http://folk.ntnu.no/tomgra/Diplomer/Kufieta.pdf

    http://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Reply ↓

    Erik
    14 – December – 2015 at 19:49
    Thank you Lars for your answer.

    I have digged deeper in my transformation steps and I realized that the pose_transis not working the way I thought. When I apply the pose_trans to the position I use to set the TCP, it only modifies the angles of the point and not the x,y,z translations like a transformation matrice is supposed to do.

    for example:
    tcp=p[0.15,-0.197,0.61,-2.87,0,0]
    rx=-14.78*pi/180
    tcp:=pose_trans(tcp,p[0,0,0,rx,0,0])
    returns tcp=p[0.15,-0.197,0.61,-3.13,0,0]

    I would like something like to get tcp= 0.15,-0.04387,0.639,-3.13,0,0
    Is there any formula that would let me apply a transformation matrice to a point?

    Thanks,

    Erik

    Reply ↓

    zacopressadmin Post author
    14 – December – 2015 at 20:03
    Hi Eric

    There are some other functions like d2r etc. (more in the script manual) which I am not sure if they can help you ?

    Or maybe you can consider to do math on each indivuídual element like

    tcp=p[var_x,var_y,var_z,var_rx,var_ry,var_rz]
    var_rx=-14.78*pi/180
    var_ry= ………
    var_rz= ………
    tcp=p[var_x,var_y,var_z,var_rx,var_ry,var_rz]

    I do not know the math you are trying to acheive, but its the concept I show.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Reply ↓

    GANESH P
    11 – December – 2015 at 13:32
    Hi Lars,
    Is it possible to create software emergency stop in UR10.

    Best Regards
    GANESH P

    Reply ↓

    zacopressadmin Post author
    11 – December – 2015 at 15:03
    Hi Ganesh

    Thanks for your question.

    By normal international standards an Emergency stop should not be programmed, but be hardwired in order to avoid if the program has an error so the stop doesn’t work.

    In the program you can control output and set a relay that open a contact which can create a stop, but I wouldn’t call it an emergency stop.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Reply ↓

    GANESH P
    11 – December – 2015 at 12:49
    Hi Lars,

    Reply ↓

    Prasath
    10 – December – 2015 at 14:30
    Hi lars,
    i have written a script program with implement client-server, PC as server and UR10 as client and tested it. its working fine.

    But i would send TCP positions or Joint positions, Acceleration and Velocity through socket and in the receiving side i have used movej and movel to move the robot, but i need some clarification, weather the robot speed depends on the Acceleration and Velocity which we send or the teach pendant speed or it takes both in to account if so then how it calculates.

    Reply ↓

    zacopressadmin Post author
    10 – December – 2015 at 17:06
    Hi Prasath

    It is possible to give the acceleration and velocity parameters in the script command

    movej([-0.1, -1.4, 1.64, -2.00, -1.57, 1.52], a=1.4, v=1.0)

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Reply ↓

    Prasath
    11 – December – 2015 at 15:17
    Okay, Whether the robot speed depends speed which we send(movej(positions, acceleration and velocity)) or also depends on speed shown in teach pendant?

    Reply ↓

    zacopressadmin Post author
    11 – December – 2015 at 15:00
    Hi Prasath

    Yes can be both.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Reply ↓

    Prasath
    14 – December – 2015 at 18:51
    Hi Lars,
    If it depends on both of the speeds, then is there anyway to calculate the actual speed of the UR10 robot ?

    Example:
    i will give acceleration – 0.5 and velocity 1 and teach pendant speed 10%, Then how can we calculate the speed of the robot?

    zacopressadmin Post author
    14 – December – 2015 at 18:14
    Hi Prasath

    The speed slider is mainly for commissioning and troubleshooting purpose. During normal program run it can be at 100% and therefore is normally not to be factored in for the calculation of speed.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Prasath A
    26 – November – 2015 at 10:50
    Hi Lars,

    Actually i try to achieve client server communication between PC and UR10. Here server should be PC and Client is UR10.

    Thanks & Regards
    Prasath A

    Reply ↓

    zacopressadmin Post author
    26 – November – 2015 at 11:36
    Hi Prasath

    Yes thats what the “Client-Server” example on this forum acheive – the “client” socket_open is on the robot program side.

    Regards
    Lars

    Reply ↓

    Prasath A
    26 – November – 2015 at 13:53
    Okay, Thank you Lars

    Reply ↓

    Prasath
    22 – November – 2015 at 00:01
    Dear Lars,

    I have some more doubts regards configuring the ESTOP finction. please clarify it

    1) What is the method to configure the configurable inputs and outputs as Safety inputs and outputs?

    2) Once the configurable I/O are configured as Safety I/O, are they programmable with scripts through the Ethernet link? Or does the UR-10 automatically connect these I/O to the internal Safety logic without user control ?

    3) When configured as Saftey inputs and outputs, do these operate as ESTOP input and output to halt the robot, or as Safety I/O that cause the robot to go into reduced mode ?

    4) What is the behavior of configurable outputs when configured as Safety Outputs?

    Reply ↓

    zacopressadmin Post author
    23 – November – 2015 at 08:42
    Dear Prasath

    Thanks for your questions.

    1. There are many different functions and methods to configure the configurable I/O e.g. limiting speed and force or stop or set outputs when an input is triggered or setting of planes for imaginary boundaries. You might ask your robot provider to show you how to set.

    2. The functions are set via the Safety menu in the GUI on the robot.

    3. It is possible to configure both different functions so it is depending on how you choose to configure.

    4. It will perform the action you have chosen from the safety menu.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Reply ↓

    Prasath
    24 – November – 2015 at 04:09
    Dear Lars,

    Thanks for your valuable help again and again.

    Here with am continue another queries sir, Now i am stuck with TCP configuration and calculation.
    1). Is there any formula for calculation of TCP?

    2). I am confusing with calculating the X,Y,Z and RX, RY,RZ co-ordinates. and how to find x,y,z axis at each movement of UR10.

    Reply ↓

    zacopressadmin Post author
    24 – November – 2015 at 11:59
    Hi Prasath

    1. There are some informations at these links

    http://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/actual-center-of-mass-for-robot-17264/

    http://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/calculate-tcp-payload-15809/

    2. The command get_actual_tcp_pose will get the data.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Reply ↓

    Prasath A
    26 – November – 2015 at 00:38
    Hi Lars,

    I have written code for socket communication through TCP/IP and try to communicate with UR10 robot through TCP/IP socket in C++ programming. Initially i had configured PC as client and UR10 is server in port number 30002 and IP address 192.169.100.101 ( for PC), 192.169.100.100 ( for UR10) the communication was established. also i have initiated server in PC side port number 30000. Then i send this command “socket_open(192.169.100.101,30000)\n” from PC client socket(PORT 30002) to initiate the UR10 client connection to the PC. The commend was successfully sent, but client was not initiated from UR10.

    My idea here is to enable the client from UR10 using my own software. Request you to kindly suggest us to the way to implement this method.

    Thanks and Regards

    Prasath A

    zacopressadmin Post author
    26 – November – 2015 at 01:44
    Hi Prasath

    I have not heard about this odd combination before of sending a command to open a socket to where the command is already comming from or maybe send a command to a device to open a socket to another server. I am not sure this is intended. You might consider to have a program on the robot side where the socket open command reside like in the example on the forum shown at this link

    http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-client-server-example/

    What are you trying to acheive ?

    Regards
    Zacobria

    Prasath
    18 – November – 2015 at 20:57
    Dear Lars,

    Thank you

    Reply ↓

    Prasath
    16 – November – 2015 at 14:55
    Hi,

    I am newer in programming of UR10 robot. Here i need to configure UR10 i/o with modbus using script. So Please suggest me some idea for doing the program.

    Reply ↓

    zacopressadmin Post author
    16 – November – 2015 at 15:59
    Hi Prasath

    The easiest way to work with Modbus is to use the build in configuration menu. An example can be found here.

    http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/modbus-io-nodes/

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Reply ↓

    Prasath
    16 – November – 2015 at 20:41
    Dear Lars,

    Thanks for your valuable suggestion. And is there any specific script function to read and write for configurable i/o, which are configured for i/o function.

    Reply ↓

    zacopressadmin Post author
    16 – November – 2015 at 21:55
    Dear Prasath

    Once you have configured the I/O names as shown in the example you can use these names right away in the programming.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Reply ↓

    Prasath
    17 – November – 2015 at 22:23
    Dear Lars,

    So, By script can read and write internal I/O of UR10 without using modbus.

    Thanks Lars

    zacopressadmin Post author
    17 – November – 2015 at 22:30
    Dear Prasath

    Yes – some example at this link

    http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-programming-from-the-teaching-pendant/

    The script manual also gives good description of this command.

    http://www.zacobria.com/pdf/universal-robots-scriptmanual-en-v-3-1.pdf

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Prasath
    18 – November – 2015 at 10:33
    Thank you Lars

    Prasath
    18 – November – 2015 at 16:48
    Dear Lars,

    i have saved ten different programs in polyscope GUI. here my doubt, Is there any possibilities to access those saved programs via socket programming?

    zacopressadmin Post author
    18 – November – 2015 at 16:27
    Dear Prasath

    There is the dashboard server – more information can be found here.

    http://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/dashboard-server-port-29999-15690/

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Support Forum.

    Peter
    2 – July – 2015 at 18:22
    Hi

    I have an error code, C153A1: Protective Stop: Position deviates from path: Shoulder.
    I have looked in the CB3 service manual and it is there but no description on how to rectify.

    Can you advise please?

    Regards

    Peter

    Reply ↓

    zacopressadmin Post author
    2 – July – 2015 at 19:29
    Hi Peter

    You need to contact your robot proviede – it could be hardware related.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    Matt
    1 – May – 2015 at 23:25
    we have a new robotiq 2 finger 85 gripper and we would like to send scripting commands from a PC to control the robot as well as the gripper. We have tried sending the commands such as rq_activate_and_wait() but this does not work. Is there a way to do this?

    Reply ↓

    zacopressadmin Post author
    2 – May – 2015 at 17:51
    Hi Matt

    Thanks for the question.

    Where did you find the command “rq_activate_and_wait()” ?

    Are you trying to send via port 30002 ? – or have you made a client server application ?

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    Matt
    4 – May – 2015 at 05:01
    I am using port 30002. I found that activate command from the robotiq templates. That’s the name of the sub program that is called to activate the gripper.

    Reply ↓

    zacopressadmin Post author
    4 – May – 2015 at 15:51
    Hi Matt

    Then I think you need a program running in the robot GUI that uses this command and then maybe you can consider to construct your program so it receives data from a socket connection that trigger the command in your GUI program.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    Kade
    30 – April – 2015 at 14:11
    I tried to find where i can block the program, but the only way i found is to block the programming part of the touch-screen panel by setting a password.

    Can you tell how can i do this please?

    Reply ↓

    zacopressadmin Post author
    30 – April – 2015 at 19:51
    Hi Kade

    Yes thats correct you found it – use the password blocking.

    Then you make your program so the variables you want to change is Opperator input

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    Kade
    30 – April – 2015 at 21:48
    I found it! Thank you very much Lars!!

    Reply ↓

    Kade
    27 – April – 2015 at 22:33
    Hi,

    Do you know if we can block some part of the program on the panel, and just let some variables free to be modified?

    Thank you

    Reply ↓

    zacopressadmin Post author
    28 – April – 2015 at 08:31
    Hi Kade

    Thanks for your question.

    It is possible to block the entire program – and then have user inputs for variables.

    A variable can be assigned as “Operator”.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    Kade
    28 – April – 2015 at 18:22
    Thank you, so if i block the entire program, it’s impossible to do any modifications but it would be possible to change variables?
    If yes, can i choose which variables and let the others blocked?

    Reply ↓

    zacopressadmin Post author
    29 – April – 2015 at 20:33
    Hi Kade

    Yes you can choose. It is done in the programming where you set each variable that you want to be operator input during program execution.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    Peter Tobin
    27 – April – 2015 at 16:57
    Hi Lars

    I need some info.

    Is there any way that an external axis can be added to a universal robot and run synchronously with the robot, i.e. as a waypoint and remembering the user frame so when the extarnal axis turns, so does the user frame? If, not do you know if there are any plans to do such a feature?

    Reply ↓

    zacopressadmin Post author
    27 – April – 2015 at 18:17
    Hi Peter

    Thanks for your question.

    It is already possible to work with variable features – i.e. you can change the robots coordinate system (feature) during program execution – for example based on a variable you send to the robot over the socket connection or if it is only a few different external positions then maybe just select via a digital input.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    Ashfaq
    10 – April – 2015 at 19:12
    Hi Lars,

    Thank you for the immediate response.

    Reply ↓

    Ashfaq
    10 – April – 2015 at 19:59
    Hi,

    I had a question regarding the Robot software.
    Where can I find the changeLog for the robot software? I would like to know the differences between update-3.1.16828.urup and update-3.1.17336.urup

    Thank you.

    Reply ↓

    zacopressadmin Post author
    10 – April – 2015 at 19:02
    Hi Ashfaq

    Thanks for your question.

    Your provieder of the robot should be able to do that.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    zhijing
    9 – April – 2015 at 09:31
    Thanks very much, is there any manual about how to use a Linux OS that control the UR5? i can not find about it in the forum , i want it to help me use the OS to control the UR5, and i appriciate any this aspect information

    Reply ↓

    zhijing
    6 – April – 2015 at 19:03
    I have question, can we use Linux OS on Industrial robot direct to cotrl UR5? if it can, what work should we do or steps to implemet?

    Reply ↓

    zacopressadmin Post author
    6 – April – 2015 at 19:05
    Hi Zhijing

    Thanks for your question.

    It is already a Linux OS on Industrial robot that control the UR5.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    zhijing
    7 – April – 2015 at 21:14
    Thanks very much, i noticed that ; i want to ask you a question further, i have not use the OS to do any test yet, the Linux OS your provid is have the same function to control the UR5, that is to say i can progamming in the Linux OS and down load to the controller to control the UR5 moving like in the screen teaching pendant did, not just be a simulator, thank you.

    Reply ↓

    zihlmanm
    31 – March – 2015 at 17:28
    Hi Lars,

    just received our UR10 and starting to program it. As we would like to use it for deburring and additive manufacturing I wondered what approach you would take to automatically establish waypoints out of existing drawings. Is there a tool to convert gcode to urscript?

    Thanks very much in advance.

    Mike

    Reply ↓

    zacopressadmin Post author
    31 – March – 2015 at 18:08
    Hi Mike

    Thanks for your question.

    I am not aware of such program – if you find it will be interesting.

    Maybe you can consider to use the cordinates in the Move screen to help making waypoints.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    Peter Tobin
    27 – April – 2015 at 16:47
    Hi Lars

    I am currently developing such a process which will convert g-code to UR script, I am about 3-4 months from achieving this, so if you or any of your clients require this process, it will sonn be available, contact me privately for more info.

    Regards

    Peter

    Reply ↓

    zacopressadmin Post author
    27 – April – 2015 at 18:55
    Hi Peter

    Sounds like a interesting function – well noted thank you.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    Brendan Fogarty
    26 – March – 2015 at 05:14
    Thanks very much for your help again. That does exactly what I needed.

    Best regards

    Brendan

    Reply ↓

    Brendan Fogarty
    25 – March – 2015 at 14:25
    Thanks very much, I’ll try that. Does that mean the output will stay off when the program restarts, and will have to be actively turned back on in the program?

    Cheers

    Brendan

    Reply ↓

    zacopressadmin Post author
    25 – March – 2015 at 15:22
    Hi Brendan

    It depends which software version you are running – on the latest you can choose in the setting what the state should be at different condition.

    In earlier versions you might need to set it your self at the beginning of the program run.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    Brendan Fogarty
    25 – March – 2015 at 07:08
    Hello all,

    I am in need of help again. I am using a UR5 in an enclosed safety cell. When the cell safety circuit is broken by opening an access door, the UR5 program stops running. When the safety circuit is made good again, the program resumes running. Is there any way to recognise in the UR5 program that the robot program has stopped or restarted? If the access is breached by an operator, I need to perform some test moves when the program restarts. I cannot use the digital I/O for this, since it stops getting processed as soon as the safety is broken.

    Is there a system flag somewhere? How do i use it?

    Many thanks

    Brendan Fogarty

    Reply ↓

    zacopressadmin Post author
    25 – March – 2015 at 08:06
    Hi Brendan

    Thanks for your question.

    I would think you can use a output port because under Installation tab and I/O setup – select an output port that is not used – then below you can set the port to a certain state when the program is running or not running which could be your flag.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    Karl
    17 – February – 2015 at 22:07
    Hi Lars,

    Thanks a lot for the answer. In fact, i dont really know for facts what the robot will do at the end since im currently in a school project with it. I have tried to put the if in a loop but it is not working. When i change the output from a true to false, the program stop even in the loop. The little exemple i gave you was just a test to help me understand how to do it. I would have then apply my understanding to the rest of my program to make the program I need.
    Thank you for your help.

    Reply ↓

    Karl
    19 – February – 2015 at 02:12
    HI Lars,

    I have an other question. I am trying to make the UR communicate with an Allen-Bradley PLC. Is it possible?

    Thank you

    Reply ↓

    zacopressadmin Post author
    19 – February – 2015 at 09:50
    Hi Karl

    Yes through Ethernet – either establish a socket connection or use Modbus.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    Karl
    12 – February – 2015 at 03:57
    Hi Lars,

    I am having a little trouble with the programation. When i use the IF/ELSE instruction, is their a way for me to make the program loop from the beginning. I want to use the IF/ELSE instruction to be able to do two different moves.
    Ex : if digital_out(0)=true
    move waypoit 1
    move waypoint2
    Else
    move waypoint 3
    move waypoint 4

    What i want to do is after making the moves, if i change the state of digital_out(0), i want to start making the other moves without having to start my whole program again.

    Reply ↓

    zacopressadmin Post author
    12 – February – 2015 at 07:28
    Hi Karl

    Thanks for your question.

    It depends what the rest of your program does ?

    I sounds for me like you wish to have this IF and the moves in a forever loop ? – so you can insert this into a loop – and the loop can have a condition also if it is not to be forever – but then the rest of the program does not have any use when the loop is active. Maybe I need to understand the rest of your program.

    There is also the feature “Check expression continuously.”
    Which has an explanation here

    http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/if-then-else-conditions/

    There are other ways to achieve change of position during program running, but I need to understand the overall flow in your program.

    Author:
    By Zacobria Lars Skovsgaard
    Authorised Universal-Robots Distributor.

    Reply ↓

    bobrien
    31 – July – 2014 at 02:28
    Hi there,

    I have a question. I have been working with my UR5 for almost two weeks now and I am about ready to load a program that we have written onto the UR5. I received it from the developer in both a .txt format and .script. Is there a way to get one of these files to run on the UR5 once I have used a USB and a magic file to upload them to the device?

    Thanks,
    Bob

    Reply ↓

    zacopressadmin Post author
    31 – July – 2014 at 10:26
    Hi Bob

    Tanks for your question.

    Well ya kind of, but it is much better to ask for the .urp file from the developer – then you can run it directly.

    The UR saves 3 files when a program is made

    a x.urp file which is the binary file that can be run directly on the UR.
    a x. script file that is a script representation for the same program.
    a x.txt file that is a text representation of the same program only for information.

    The x.script file contains some headers and comments that needs to be manually edited before it can run as an imported program on the UR.

    Try and read this

    http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-programming-from-the-teaching-pendant/

    Regards
    Zacobria

    Reply ↓

    Kale
    30 – January – 2014 at 19:59
    I am new to robotics, but i am finding UR to be very user friendly. i have a background in AB plc’s, this helps when looking at stepping through a UR program. my problem is with the “if….elsif” command. i put an “if” command in that says “input 1 = true” run subprogram 1. below that i put “if” “input 1 = false” run subprogram 2. these statements are lines 1 and 2 in my program. they turn green after i enter them in, but when i hit the play button i get “syntax error line 1, (program name). why is this?

    Reply ↓

    zacopressadmin Post author
    31 – January – 2014 at 00:02
    Hi Kale

    Thanks for your email.

    I need to see you program to be sure, but you need to have the Sub routine below the If statement i.e. in the Action field as Call Sub Routine.

    And then below that that another If… statement for next condition.

    Regards
    Lars

    Reply ↓

    RPB
    23 – May – 2014 at 23:11
    Is it because the “Else” is missing ?

    If input 1=true
    Call subprogram 1
    Else
    Call subprogram 2

    Reply ↓

    zacopressadmin Post author
    24 – May – 2014 at 08:27
    Hi RPB

    Thanks for your messages – not sure I understand your question – Else is there.

    Regards
    Lars

    Reply ↓

    1. Dear Lars,

      I saw that in CB3
      “Now monitoring the target position vs. the actual position more tightly
      Added “Protective Stop: Position deviates from path” when the robot is pushed away from it’s path
      Robot can resume programs after protective stop or emergency stop”

      So i am getting this error : UR10 C153A1 protective stop : position deviates from path shoulder
      what if i would like a relaxed constraint .
      please help.

      1. Hi Ravi

        I am not sure I understand your question – what do you mean that you saw on CB3 ?

        How is the robot being pushed away ?

        Author:
        By Zacobria Lars Skovsgaard
        Accredited Universal Robots support Centre and Forum.

        Also check out the CB3 forum



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