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JopsonLJopsonL Posts: 12 Apprentice
Hello, just wondering if it is possible to call an operator assignment within an event. The event is looking for when an estop occurs, within this event i want to ask the operator whether to resume the robot or to send it home. 

Thanks in advance


  • Catherine LeclercCatherine Leclerc Posts: 6 Apprentice
    Hello @JopsonL,
    Are you using a UR robot?
    Because if I understand your need correctly and you are using a UR cobot, this could easily be done with Insights, our production monitoring software. Other than providing real-time data to monitor and help troubleshoot your production, Insights can send your operator a text message or email when the robot requires your attention (e-stop, p-stop, more parts required, etc.).

    Catherine Leclerc
    Product Owner, Insights
    [email protected]
    (+1) 418-380-2788 ext. 214
  • JopsonLJopsonL Posts: 12 Apprentice
    Hi, Thanks for the reply.

    Yes I am using a UR. I would like to display the message on the Pendant when a estop has been called. I am looking for the estop signal via an event and want the question to pop up after this. 
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,152 Handy
    edited July 2018
    @JopsonL there is no straightforward way to do what you are trying to do on the UR for a couple of reasons, first being the situation where the program pauses operation anytime the robot is paused, e-stopped, s-stopped or p-stopped.  Second, even though you can set two of the configurable outputs to turn on when the program is e-stopped there is no easy way to catch that signal on the UR.  Once those outputs are set to e-stop they are not available in the program, just tried it, also by time they come on the program will have paused execution.

    The easiest way to do this is to use a latching relay, turn the latch on when the e-stop is pressed (ties up two configurable outputs, a digital output for the reset as well as one digital input to know its latched) and then reset the latch once the program comes back up and the operator clears the fault by answering your question.

    Here is some information from AB on latching relays

    Another option obviously is a PLC, you could then use either Ethernet/IP, Profinet, Modbus/TCP or hardwire to achieve the same thing.  The beauty of using one of the field-bus protocols is you will use up less of your I/O to accomplish the same task.  We do this using our Banner XS26DE safety PLC for monitoring when light curtains, laser scanners, door switches, etc. are broken so that the robot can make decisions about what to do.

    What is your thought for how you will get your program to stop normal execution and go through a homing sequence if that is the case?
  • JopsonLJopsonL Posts: 12 Apprentice
    Hi Matthew, Thanks for the reply again.

    I have managed to get the program to stop normal execution and follow a homing sequence via an e-stop. I have done this by having an event linked to the modbus register value for the e-stop.

    In this event I change the value of a variable which runs the if statement where the homing sequence is called and where the normal program is. 

    If an e-stop is called and play is pressed, the program will resume.
    If an e-stop is called and the blue button is pressed while pressing play, the robot will go home. 

    Just wanted to see if a popup question can be called within the event so it is easier for the operators. 

    Thank you for your help. Much appreciated. Good to know that it is possible via the relays. 

  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,152 Handy
    I didnt think about picking up the e-stop with the modbus register where its stored, let me play around with something.
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