Universal Robots Forum

[E-Series]tool digital input function

HI all,

I set tool digital input signal function “FreedDrive” and with external push button
Why it’s not work in “remote mode”?

The way that the implementation of this functionality works in PolyScope doesn’t allow it to be used through remote mode. In remote mode, the robot is not allowed to receive URScript commands through ports 30001, 30002, and 30003. You can read more on this here.

i’m confused cuz you already gave me the solution for that: Use Digital Input mapped to Freedrive in Remote Mode

using a python backend sending the freedrive command works great :slight_smile:

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Ah yes, thanks for pointing that out! I hadn’t tried that method yet.

HI m.birkholz

thx to your remind. :wink:

because i want a physical button for function “FreedDrive” in remote mode.

it seems not allowed from ISO 10218-1, section 5.3.5.

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u can send sth like:

def Freedrive():
while(True):
if get_tool_digital_in(0):
freedrive_mode()
else:
end_freedrive_mode()
end
end
end

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