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David_Gouffe
Vacuum Beta tester Posts: 56 Handy
Starting a UR Program where you want. |
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in Programming
Programming also means testing program. On UR robots, there is no start here or from here.
Here is the work around.
The switch case structure allows you to test sub part of your code.
The principle of this structure is simple:
Use a numerical variable pointing the part of code you want to do.
Use the switch structure to read its content and match it with the good case.
Put your code inside a folder inside of each case.
Each case can assign the next step value to the variable.
Using this, you can skip the Case 1 and Case 2 when testing making My_Switch_Variable = 3. This way, you execute the Case 3 .
This is useful when programming, testing or to try a new way to process a part of the program without affecting the previously tested part of it.
If you need to restart the program after a power cut, having the My_Switch_Variable saved permanently will let your program restart inside the good Case and the good part of the sequence.
Here is the work around.
The switch case structure allows you to test sub part of your code.
The principle of this structure is simple:
Use a numerical variable pointing the part of code you want to do.
Use the switch structure to read its content and match it with the good case.
Put your code inside a folder inside of each case.
Each case can assign the next step value to the variable.
Using this, you can skip the Case 1 and Case 2 when testing making My_Switch_Variable = 3. This way, you execute the Case 3 .
This is useful when programming, testing or to try a new way to process a part of the program without affecting the previously tested part of it.
If you need to restart the program after a power cut, having the My_Switch_Variable saved permanently will let your program restart inside the good Case and the good part of the sequence.
This is almost like making a "jump to" or "go to" structure in old programming language as "C" .
I use it inside a loop sequence and count using some Insights tag to track when a step is done and if some Case are more prone to fail.
Hope this helps.
Regards,

I use it inside a loop sequence and count using some Insights tag to track when a step is done and if some Case are more prone to fail.
Hope this helps.
Regards,
David Gouffé
Integration Coach
Coach en intégration
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Tagged:
Here is the version if you use "If" statements, well explained on Universal-Robot website.
Start program from where it was stopped - 15385
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/start-program-from-where-it-was-stopped-15385/Thanks to Universal-Robot How-To articles.
Hope this helps.
Regards,
Integration Coach
Coach en intégration
Robotiq is now into packaging, palletizing and sanding applications. Learn more about our new Vacuum Grippers and the Robotiq Sanding Kit.
1-888-ROBOTIQ #275 (762-6847)
1-418-380-2788 #275 (Outside US and Canada)
1-418-655-9221 (Cell)
Follow us on

Visit us:Then in your before start you can use some logic to know if you are resuming a program or starting or starting from scratch where you need to possibly go home.
You can now start from anywhere on UR eSeries Cobot just by using Polyscope 5.5 or above.
See section " PolyScope GUI " / " Start from selection "
https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/release-note-software-version-55xx/
Enjoy program testing. Now from where you want, thank to Universal-Robots.