How to load variable while robot it paused?

scasey19 2017-11-07

We use a safety scanner to stop robot when people enter the zone. If machine stops while robot is paused, robot does not get pulse to start,
I tried using a thread to change variable when machine pulses, and it works great when running program, but tread does not run if program is stopped?
How can I change variable if robot is paused?

matthewd92 2017-11-07

You can’t on the robot, the program is paused which means all execution stops. You would need a separate controller that could hold the status or use a latching relay that could be held high by the pulse from the machine.

Jose 2018-01-05

Yes that's pity to do not have on UR something like submit interpreter on KUKA or semistatic task on ABB running independently on the program. So you need to use PLC and solution become much more expensive.

matthewd92 2018-01-05

Agreed. Another option which should be less costly than a PLC would be to use a field logic controller such as this one, http://www.turck.us/en/field-logic-controller-5583.php. I think that would be a lower cost alternative to needing to implement a PLC. We looked at them once and cost wise they aren’t too bad. We use a lot of Turck junction blocks already including their modbus version and this is similar except it gives you the ability to process some logic at the junction block. Wonder if you could hold that status bit latched until the robot consumes it.