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kawhittkawhitt Partner Posts: 3 Apprentice
Is it possible to automatically send a command to an external device (PLC), indicating that safety settings have been changed?  Or, using a PLC, fetch the safety settings from the robot, to verify that they have not been changed?  I have been told that a competitive robot manufacturer has that ability on his collaborative robot.

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  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
    edited February 2017
    Which settings are you referring to?  Do you mean the configurable IO, normal and reduced mode settings?  Looking at the documentation for the streaming port 30001 it appears that you can get back some of the configuration data for the joints such as range and max speed but I am not seeing anything specific to the configurable I/O or the normal/reduced mode settings.

    @Stefan_Stubgaard any way to get this information remotely?
  • kawhittkawhitt Partner Posts: 3 Apprentice

    Their specific question was "is there a way to monitor (externally) when the safety torque setting has been changed on the UR robot".  I interpret that to mean that the maximum speed or force was changed. Or, that the reduced mode speed or force was changed.

    I did not see any type of "get" commands that provide this type of information...

  • kawhittkawhitt Partner Posts: 3 Apprentice

    @matthewd92 Yes.  That is helpful.  I will be able to tell them, without equivocating, that it can be monitored so that changes can be noted.  And, in fact, the screen can be locked so that, regardless of password control, the screen to change the settings cannot be accessed.


  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
    @kawhitt So one thing to note, the ability to change the user level can be done from any computer, all you need is something that allows you to connect to a TCP/IP socket as a client and send the text string.  We use SocketTest for this and it works really easy.  So if they want to hide the program screen you just simply send the string "setUserRole operator" and it locks out the program screen from the user so there is now no way to get to the safety screen in the installation tab to make any changes

    This also locks them out of the ability to make any actual changes to the robot set-up outside of language and calibrating the screen

  • Kaleb_RodesKaleb_Rodes Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Tactile Sensor Beta Testers, Beta Tester Camera URCap 1.2.0-beta Posts: 62 Handy
    @kawhitt @matthewd92 we have created an URCap that is able to monitor and output the Safety Checksum value to external hardware. This feature is now available on the UR+ website as a certified product. Do not hesitate to contact me if you have any questions/concerns. https://www.universal-robots.com/plus/urplus-components/plug-ins-interfaces/behco-checksum-utility/
    Kaleb Rodes
    Applications Engineer
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