Hello All,
I am working on setting up a production cell using 3 UR10 bots being controlled from the main machine’s PLC via ethernet messages. My goal is to have the operator interfacing with the robots and the pendent as little as possible so I’ve automated most of the functions such as initializing the robots and starting the programs.
What I would like next is to be able to put the robots into Freedrive from a button on my operator panel that is only visible after certain conditions have been met.
To do this, I am using GP_Bool_In[3] and in the installation I/O tab i have it selected as freedrive. My problem is that this will only put the robot into freedrive mode if I go to the pendant and return it to local control, this is not ideal as I need it in remote control in order to initialize and start/stop the program from the plc etc.
I’ve done some browsing and I have seen some information on being able to do it with a script in the program, but as one of my qualifiers I only want the operator to be able to enable freedrive if the program is stopped or pause.
Any help is appreciated!