Comments for Zacobria Universal-Robots community - a help forum with hints tips and how to use universal robot CB2

Zacobria Robot community forum Universal-Robots

02/24/2018 12:22 PM
Comment on About by zacopressadmin
Brian Thanks for the question. Register 290-295 are currents for each joint measured in mA. Yes it is numbers and if they are to be in another format you have to do math on them. Several other register hold informations about the position for example regiater 400-405 - more informations at this link. http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/modbus-registers-read-position/ More informations about the MODBUS registers can be found at these links: http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/x-y-and-z-position/ https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/modbus-server-16377/ Author: <a href="https://plus.google.com/u/0/116832821661215606670?rel=author" rel="nofollow">By Zacobria Lars Skovsgaard</a> Accredited Universal Robots support Centre and Forum. <br /> <br /> <a href="http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/" rel="nofollow">Also check out the CB3 forum</a> <div class="fb-like" data-href="http://www.zacobria.com" data-send="false" data-layout="button_count" data-width="450" data-show-faces="false" data-font="arial" data-action="recommend"></div> <div class="fb-share-button" data-href="https://zacobria.com" data-layout="button_count"></div> <br /> <script type="IN/Share" data-counter="right" data-onsuccess="LinkedInShare"></script> <div class="g-follow" data-annotation="bubble" data-height="20" data-href="https://plus.google.com/116832821661215606670" data-rel="author"></div> <div class="g-plusone" data-size="medium" data-annotation="bubble" data-width="300"></div> <div class="g-plus" data-action="share" data-annotation="bubble"></div> <a href="https://twitter.com/share" class="twitter-share-button" data-url="http://www.zacobria.com" data-via="zacobria" rel="nofollow">Tweet</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script> <a href="https://twitter.com/zacobria" class="twitter-follow-button" data-show-count="true" rel="nofollow">Follow @zacobria</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script>

02/24/2018 09:01 AM
Comment on About by Brian Rodricks
I am trying to read the registers of a UR5 using Matlab Modbus. The temperature readings looked like rounded up numbers. The settings for angles (reg 290-295) are numbers. Does UR give the conversion between the numbers and angles? Or are we to figure it out? It looks like the numbers are between 0 and 62XX. thx

02/21/2018 12:44 PM
Comment on Thread by zacopressadmin
Hi Kristian My experience is that the event thread will keep looping as long the condition is present. Author: <a href="https://plus.google.com/u/0/116832821661215606670?rel=author" rel="nofollow">By Zacobria Lars Skovsgaard</a> Accredited Universal Robots support Centre and Forum. <br /> <br /> <a href="http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/" rel="nofollow">Also check out the CB3 forum</a> <div class="fb-like" data-href="http://www.zacobria.com" data-send="false" data-layout="button_count" data-width="450" data-show-faces="false" data-font="arial" data-action="recommend"></div> <div class="fb-share-button" data-href="https://zacobria.com" data-layout="button_count"></div> <br /> <script type="IN/Share" data-counter="right" data-onsuccess="LinkedInShare"></script> <div class="g-follow" data-annotation="bubble" data-height="20" data-href="https://plus.google.com/116832821661215606670" data-rel="author"></div> <div class="g-plusone" data-size="medium" data-annotation="bubble" data-width="300"></div> <div class="g-plus" data-action="share" data-annotation="bubble"></div> <a href="https://twitter.com/share" class="twitter-share-button" data-url="http://www.zacobria.com" data-via="zacobria" rel="nofollow">Tweet</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script> <a href="https://twitter.com/zacobria" class="twitter-follow-button" data-show-count="true" rel="nofollow">Follow @zacobria</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script>

02/20/2018 06:59 PM
Comment on Thread by Kristian
Hi Lars, thanks for the reply. Do you know if the event is triggered by the edge of the condition, so it only runs once when the condition evaluates to true, or will it loop continuously like an if-statement in a thread?

02/20/2018 05:47 PM
Comment on Thread by zacopressadmin
Hi Kristian Thanks for the question. Yes the Event is a Thread that is triggered by a condition. I do not have further documentation, so if a Thread works for you it can be considdered. Author: <a href="https://plus.google.com/u/0/116832821661215606670?rel=author" rel="nofollow">By Zacobria Lars Skovsgaard</a> Accredited Universal Robots support Centre and Forum. <br /> <br /> <a href="http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/" rel="nofollow">Also check out the CB3 forum</a> <div class="fb-like" data-href="http://www.zacobria.com" data-send="false" data-layout="button_count" data-width="450" data-show-faces="false" data-font="arial" data-action="recommend"></div> <div class="fb-share-button" data-href="https://zacobria.com" data-layout="button_count"></div> <br /> <script type="IN/Share" data-counter="right" data-onsuccess="LinkedInShare"></script> <div class="g-follow" data-annotation="bubble" data-height="20" data-href="https://plus.google.com/116832821661215606670" data-rel="author"></div> <div class="g-plusone" data-size="medium" data-annotation="bubble" data-width="300"></div> <div class="g-plus" data-action="share" data-annotation="bubble"></div> <a href="https://twitter.com/share" class="twitter-share-button" data-url="http://www.zacobria.com" data-via="zacobria" rel="nofollow">Tweet</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script> <a href="https://twitter.com/zacobria" class="twitter-follow-button" data-show-count="true" rel="nofollow">Follow @zacobria</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script>

02/20/2018 05:45 PM
Comment on MODBUS I/O nodes by zacopressadmin
Hi Yannick I am only aware of the Dashboard server. Author: <a href="https://plus.google.com/u/0/116832821661215606670?rel=author" rel="nofollow">By Zacobria Lars Skovsgaard</a> Accredited Universal Robots support Centre and Forum. <br /> <br /> <a href="http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/" rel="nofollow">Also check out the CB3 forum</a> <div class="fb-like" data-href="http://www.zacobria.com" data-send="false" data-layout="button_count" data-width="450" data-show-faces="false" data-font="arial" data-action="recommend"></div> <div class="fb-share-button" data-href="https://zacobria.com" data-layout="button_count"></div> <br /> <script type="IN/Share" data-counter="right" data-onsuccess="LinkedInShare"></script> <div class="g-follow" data-annotation="bubble" data-height="20" data-href="https://plus.google.com/116832821661215606670" data-rel="author"></div> <div class="g-plusone" data-size="medium" data-annotation="bubble" data-width="300"></div> <div class="g-plus" data-action="share" data-annotation="bubble"></div> <a href="https://twitter.com/share" class="twitter-share-button" data-url="http://www.zacobria.com" data-via="zacobria" rel="nofollow">Tweet</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script> <a href="https://twitter.com/zacobria" class="twitter-follow-button" data-show-count="true" rel="nofollow">Follow @zacobria</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script>

02/19/2018 09:09 PM
Comment on Thread by Kristian
Hi there. I have a question about the "Event"-function and, since I can't find a post about that, I'm going to pose it here. I have been unable to find any documentation about this function in the manuals provided by UR, so I'm hoping you guys might be able to help. Basically, I just want to know what it is, and how it works. It seems to work a lot like the first thread you make in this article, where you execute code when a signal goes high, but I don't know if an "Event" is edge triggered or if it will make an infinite loop if the triggering signal is not set low within the function, like a thread will. In the latter case, I see no reason to use the event over a thread since it adds a lot of inconsistency because it seems to lack any stack support, like regular interrupts on embedded devices have. I might be wrong though, and would welcome any and all new information. Could you point me to some documentation for this event functionality or, better yet, make an article like this one on it? Kind regards, Kristian.

02/19/2018 05:50 PM
Comment on MODBUS I/O nodes by Yannick
Hi Zacobria, I want my UR10 to be fully conrolled by an Allen Bradley PLC. The Ethernet/IP communication works fine. It is no problem to start and stop the robot program setting the corresponding register defined in the I/O Setup. Im using the Remote I/O for starting the controller and the auto initialize the robot by the default programm settings. This allows me to controll the robot without the teach pendant. However I'm not able to reset the safety messages like "Protective Stop - Position devaites from path" by using Ethernet/IP or digital inputs. It is only possible to enable the robot via the teach pendant. Is there another solution than using the Dashboard Server? Thanks for your support! Regards Yannick

02/17/2018 11:06 AM
Comment on UR Script: Popup Messages by zacopressadmin
Hello Kristian Thanks for the question. I am not aware of a possibility to close a popup with an I/O signal, but it is possible by sending a command to the dash board server on port 29999. More informations about the dash board server at this link. https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/dashboard-server-port-29999-15690/ Author: <a href="https://plus.google.com/u/0/116832821661215606670?rel=author" rel="nofollow">By Zacobria Lars Skovsgaard</a> Accredited Universal Robots support Centre and Forum. <br /> <br /> <a href="http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/" rel="nofollow">Also check out the CB3 forum</a> <div class="fb-like" data-href="http://www.zacobria.com" data-send="false" data-layout="button_count" data-width="450" data-show-faces="false" data-font="arial" data-action="recommend"></div> <div class="fb-share-button" data-href="https://zacobria.com" data-layout="button_count"></div> <br /> <script type="IN/Share" data-counter="right" data-onsuccess="LinkedInShare"></script> <div class="g-follow" data-annotation="bubble" data-height="20" data-href="https://plus.google.com/116832821661215606670" data-rel="author"></div> <div class="g-plusone" data-size="medium" data-annotation="bubble" data-width="300"></div> <div class="g-plus" data-action="share" data-annotation="bubble"></div> <a href="https://twitter.com/share" class="twitter-share-button" data-url="http://www.zacobria.com" data-via="zacobria" rel="nofollow">Tweet</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script> <a href="https://twitter.com/zacobria" class="twitter-follow-button" data-show-count="true" rel="nofollow">Follow @zacobria</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script>

02/16/2018 10:06 PM
Comment on UR Script: Popup Messages by Kristian
Hello there. Is it possible to close a popup, just like the "Continue"-button on the touchpad would, but with an external digital input? Like, does the popup count as a "pause", so an external digital input configured to "Start" the program would also close the popup?