Continue Robot Program after Stop / change Program pointer

URCap Development URCaps SDK
1

Hi,

i’m looking for a solution to continue aborted or stopped Robot Programs.
Pausing the Program is no option as pause can’t trigger I/Os

2

It isn’t exactly easy or pretty to use, but this is how it is suggested to do Start program from where it was stopped 15385 - UR Support

3

What do you mean by pause can’t trigger I/O?

4

if i didn’t miss it there is no way to set Digital or GP Register Outputs on Program Pause

5

@m.birkholz You can assign the “Action in program” of an output to “High when running-low when stopped” in the Installation -> IO Setup tab and it will trigger when the robot pauses.

6

Ok first of all i have to apologize for not explaining my problem in detail.
The task was to watch a profinet io with a thread and pause the robot if the io was triggered which wasnt possible because there is no way to pause the robot through the api and the popup function with the blocking option wont pause the program because it is called inside or from a thread. The solution was to bride digital out to a digital in which was mapped to pause the robot🙂 i dont know for a more reasonable way to achieve this