Code sequence handled different in automatic and manual mode

Technical Questions
1

PLease help me to understand and handle the different behaviour of the ur12e in manual and automatic/remote mode. My code sequence like:

movej(pose1,…r>0)

movej(pose2,…r>0)

movej(pose3,…r=0)

if(something = True):

do something

end

works in manual mode like sequence is written. In automatic mode the if statement is done before the movej statements. How can i force the ur to keep in the sequence?

Can someone please help?

Thanks a lot,

Hannes

2

Can you send a screenshot of the code? There shouldn’t be any difference between running in manual and running in automatic.

3

grafik
grafik670×273 11.2 KB

This is the sequence. In Manual mode it works in sequence, in Remote the if statement is handled before the movement. As i read there is different in lookahaed strategy in path planning when using manual or automatic/remote. Isn’t it?

Thank You!

Hannes

4

Not sure where you read that. If that’s true, that’s the first I’ve heard of it, and I’ve never seen it impact any of the programs I’ve written. How are you controlling the robot? Are you using the teach pendent and Polyscope or sending it commands from a PC or something?

6

Hi,

There is no difference to the scripts and how they are executed in manual/automatic/remote. But there is a difference in how the robot program is started.

In manual and automatic mode, if a Program is run from PolyScope GUI, then the robot has to “automove” with hold-to-run to the first waypoint before actually executing the program. So the initial position of the robot in the program, will be the position of the first waypoint.

In remote control, the robot starts from it’s current position. So the initial position is wherever the robot is when the script is started.

I hope that explains the difference.

7

Hi Eric,

thanks for reply again. I read it as an answer from ai, but now i know this was not correct (another run the ai said: every kind of move-statement is finished before next statement is handled- that is the opposit!! So more a then i). I have an application where Cobot works as part of a machine. I had an error in sequencing the scripts (same if-statement in another script was executed…). That and the differnet speed the cobot moves in automatic and manual caused different behaviour.

Thank for all replies!