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Also checkout the new CB3 forum. Please help us to improve this forum and blog by contributing with your own experiences: While the Zacobria Pte. Where reference is made to legislation it is not to be considered as legal advice. Any and all such liability is disclaimed. If you need specific advice for example, medical, legal, financial or risk management , please seek a professional who is licensed or knowledgeable in that area.
Also check out the CB3 forum. I have a UR10 and want to connect it to a PC via network. I am not aware of sending keyboard commands from the robot to a PC, but it is possible to establish a Client-Server TCP connection where data can be exchanged.
Hello, We have a demo robot UR 3 and we are plenty engineers which made some tests on the robot. Unfortunately someone added a sensor to play with it and try it but on the safety inputs. They added also a password and lock it, we made an investigation but it seems is not possible to find out the password anymore in order to unlock it. Is there any way to remove that password or to replace it somehow , considering is just a demo robot?
If yes, what is the procedure or what we should do in this case? When I send one movement command, say moveL, to the robotic arm. The moveL command will block until the movement is finished so that I can use UR script to send a socket message back to my laptop to know when the movement is finished, which is good.
Because of this feature, I could not know when the series of movement is finished. I tried to get the speed of the robot, but it seems like there is always some delay.
I made a socket connection to the robot and send messages to it, then I receive the message from the URScript. I have a programme which contains a large number of variables. I want to change some of the variables from programme variables to installation variables, but cannot find a way of doing so, as even if I delete all references to an individual variable, Polyscope will still not allow me to create a new installation variable of the same name as a variable which has previously existed within the programme.
How can I overcome this? Ultimately I want to write the pgorammes such that editing a variable common to a number of programmes at a later date is a straightforward process, rather than having to edit each programme individually. I am programming a UR10 and would like to configure a boolean assignment from the operator from a button on a control panel. I cannot see any obvious way of doing this within Polyscope.
It is possible to assign variables from the panel. If Yes No is choosen then the variable becomes boolean. Thanks for your fast reply. Program running in UR is looks like this. What is the best way to achieve this? Thank u for the reply. With sockets we can set digital outputs as , s.
I have checked the connection between PLC Allen bradley and the robot controller. Is that possible to achieve these functionalities? Dear Mr Lars Could you help me solve the robotic issues? Our ur10 cannot be initialized by the panel.
When opening the display,it shows that configuring network interface failed 3. Thanks a lot for your help. Currently we have CB2 controller and it has servoj command to give some specific pose to the UR. We do this action frequently in real time, so we give the new pose before robot reaches the previous one. However, this transition is jittery not smooth. The new version of the controller CB3 also has servoj command, however with that robot moves smoothly.
So, at this moment I have two questions:. Is there any difference in the implementation between CB2 and CB3 for servoj command? Yes there are big differences in a CB2 compared to a CB3 robot and the hardware is also very different. The joints in the arm of a CB3 uses for example different encoders of absolute type and the master control board inside the controller unit is also very different. So to upgrade from a CB2 to CB3 would require to replace all the joints in the arm and change the controller unit as well which is virtually replacing the entire robot.
We also changed the IP address of the UR robot. Can you help me with this? Maybe consider to give the robot an address closer to the PLC e. Maybe also consider to configure the Default Gateway in both. I tried the program on a real computer and there seems to be a missing: Similar to the ActiveDrive-function on CB3.
That works a little bit jumpy. Furthermore the transformation of the movement seams to be wrong. The speedl-command moves the robot in base-frame, but the speed-Vector based on the torque should move the robot in tcp-coordinates. Do you have a solution for our Problem? Is this the right approach or should we use annother command to realize the handguidance?
Yes the speedl moves the robot in the base frame — which might be fine in such an application because the direction of the pull on the force torque sensor can also be in the base frame and seems easier for the user to relate to.
For our application it is essential to move the an rotate the robot in toolspace. That works…we move the robot in toolspace. The processing power is normally sufficient — however it depends on how you program. The Active Drive Toolbar works just perfect but the new robot has the bumpy behaviour as well with our script. It happens even if I just press the safety release button on the back side of the teach pendant.
Sometimes it may disappear without doing anything. Please can you help me to resolve this problem. When this messages appear is the robot meeting any obstacle — or running fast with changing direction? A restore from a backup will set the robot controller back to the state of the backup, but not the joint firmware in the arm which is best to update or downgrade by following the sequence of version updates one by one and not skip over updates or downgrades.
Always tried to move in one direction to teach another waypoint. If a joint is its extreme side — then it might be better to have it re-positioned by turning it one revolution. Could you tell me if it is possible to read UR5 CB2 state data through , or without having to run a custom urscript on the polyscope. I am trying to build a real time control and I am in desperate need of some feedback from UR. So far data that I listen from looks like meaningless hexs. Or am I parsing them wrong? These data are Matlab data.
It was very helpful. Our parsers are now up and running. However sometimes we get very strange readings from our UR5. During real time tests that is we send motion commands through port get feedback adjust and send more motion commands etc both actual and target joint angles deviates by up to 0. So far we have only seen this behavior during real time tests. Is the both ways communication the source of the error?
Hard to say as the program is not show, but as the target is also send — can the feedback be the target data? So far I am running it at 10Hz. I have also made a version where I get the feedback from which works fine but I want to increase the frequency which I believe only possible using Also while I am at it.
I have thought it would be same as send but tests proved me otherwise. We are trying to do some real time control of UR5 CB2 with 1. Can we use port? Do we need an upgrade of SW for it? I notice that at this link below it says that the real time examples are valid from version 3. When the robot is teached the waypoints from GUI it acheive the Repeatability which is the spec provieded as 0. Lars, We have a problem in releasing the break. We could not able to release the break when the teach pendent is not connected.
What might be the issue? Thanks for your question. The configuarable inputs can for example be used for Safeguard Reset or Emergency stop or Reduced mode. I have an issue with run program. Program will not start if i perform run program. RObot has been installed Robotique 2fg gripper.