Universal Robots+

Customizable After Stop / Program Running routines

Hi,

to handle some I/O Logic in sepcific conditions we would like to have the ability to customize the Option for “Actions for Program” e.g. a user-defined URScript that will always (!) be executed after Stop. In some Cases, we need a Signal not only set to High after Program Stop, but hop - like set to False, wait 100 ms and set to High, therefore the IO Setinngs Tab with only the options “Low when not running”, “High when not running”,“Program running” “cont. Pulse” does not help. This behavior is diffcult to achieve because actually the logic has to be implemented on a daemon service or plc.

3 Likes

To @m.birkholz

I also want the feature that you suggested.

I use primary client and RTDE to start specific actions by I/O.