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tonyatanyatonyatanya Posts: 7 Apprentice
I am trying to set up an extrnal "reset" button that will enable an operator to restart the robot arm after a protected stop with out restarting the arm from the teach pendant.

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  • tonyatanyatonyatanya Posts: 7 Apprentice
    So if I have a PLC how would I do that?
  • tonyatanyatonyatanya Posts: 7 Apprentice
    Thanks, I’ll try those suggestions 
  • BarriosBarrios Unconfirmed Posts: 1 Recruit
    Hi
      When the UR is gluing and for some reason a protective stop occurs the glue stays on (making a mess), is there a way to turn the Glue output off and turn it on when the reset button is pressed? the issue is that on some parts of the program the glue should be off so I only need it to turn on if its on the specific position on the program.
      Thank you 
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,086 Handy
    You can set the output to be low when not running, that will set it off anytime the program stops. 

    You would then need a thread monitoring the actual desired state of the button and setting the actual state to the desired state. So in your main program instead of setting the output on or off you would set the state to True or False, something like this.  Just set the thread to loop forever, that way when you restart the program the glue will turn back on if its needed to be

    local turnGlueOn = True # Would cause the glue to turn on
    turnGlueOn = False #Would cause the glue to turn off
    
    
    thread 1():
      set_standard_digital_out(PORT, turnGlueOn)
      while(get_standard_digital_out(PORT) == turnGlueOn):
        sleep(0.1)
      end
    end
    
    
    
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