We have setup our robot (UR10e) with door interlock switches, when the door is opened the robot goes into Safeguard Stop then resumes when the door is closed.
We have a pneumatic solenoid connected to a machining spindle on Configurable output 0 (CO0). I have two questions.
How do I turn on or off the solenoid within a program ? I can only see an option to activate a digital output.
How can I stop the spindle / cut off the solenoid during a program when the robot enters safeguard stop.
Thanks in advance.
There should be a possibility to do this on advanced pane, cant recall right now
But alternatively you could use script set_configurable_digital_out(0, False)
I would set the (co0) to low when program not running. - you can do this in Installation i/O setup.
Assigning special functions to inputs and outputs 15418 - UR Support (universal-robots.com)
- You can control configurable outputs from the Set command, as well. Not just digital outputs.
- As Ladislav said.
Stopping the Spindle should be a safety feature of the cell.
It should be interlocked from your door interlock device and not in software! (from the Robot)
I would wire the door interlock switch to a safety relay (to monitor its state) and then wire the Safeguard stop and the spindle output through the safety relay channels.
Use somthing like a Pilz PNOZX4