Acknowledge Collisions Without Teach Pendant

Technical Questions
1

Is there a way to acknowledge robot collisions without using the teach pendant? If I wired in a safeguard reset button, would that clear the popup and allow the robot to continue moving?

2

Are you talking about protective stops?

On PolyScope 5 there is the unlock protective stop command on the Dashboard Server

On PolyScope X this is available through the Robot API since version 10.11.0

3

Yes. I basically want to acknowledge category 2 stops without the TP. How exactly does the dashboard server work? Is that an interface that has to be run on a PC or something?

4

The dashboard server is a simple text-based interface that runs on the robot on port 29999. It may have to be enabled in the “services” settings:

services_polyscope5
services_polyscope51280×800 57.6 KB

Then, you can use it with any network socket client. The most basic one on Linux would be netcat

For example, to unlock a protective stop, open a connection and then send the unlock protective stop command:

$ nc 192.168.56.101
Connected: Universal Robots Dashboard Server
unlock protective stop
Protective stop releasing

Note: The robot has to be in remote control mode for that to work.

The same can be achieved using any socket client, e.g. the following python program does the same

#!/usr/bin/env python3

import socket

db_client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
db_client.connect(("192.168.56.101", 29999))
welcome_msg = db_client.recv(1024)  # Receive the welcome message from the robot controller
print(welcome_msg.decode())  # Print the welcome message
db_client.sendall(b"unlock protective stop\n") # Remember to append the newline character
answer = db_client.recv(1024)  # Receive the response from the robot controller
print(answer.decode())  # Print the response

A full C++ client is available through our client library at GitHub - UniversalRobots/Universal_Robots_Client_Library: A C++ library for accessing the UR interfaces that facilitate the use of UR robotic manipulators by external applications. · GitHub. See the example for details there.

5

I see. I started looking into the dashboard server yesterday. I think I’ll give that a try. Thank you.