Emergency stop in URSim

Technical Questions URScript
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1

Hello,

Does someone knows if it is possible to trigger an e-stop, p-stop, safeguard from the simulator?

Thanks.

2

Create a move with two waypoints, put a blend on the first waypoint of say 50mm, then between the two waypoints place a short wait. This causes an invalid set point protective stop.

3

As @mbush suggest, triggering Protective Stop is possible, by using invalid program settings, e.g. blending into a wait.
However E-stop, Safeguard, Faults and Violations are best triggered on a real robot.

4

Thanks for the answers.

5

Is there really no way to trigger an e-stop? safety stop?

6

There is the assert urscript function that triggers a fault.

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