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.
Freedrive inputs are disabled when robot is in remote mode for safety reasons. Robot in remote mode can interrupt freedrive, and start moving arm without operator control.
The only safe way is to run a program that enters freedrive from script code from the “main” PLC that controls the cell.
What is meant by remote mode?? We are using the robot with profinet and profisafe and are not able to activate the freedrove mode with an external button, that is connected to a input
We are not using remote mode, but still the robot goes not in freedrive if the button is pressed (connected to Digital IO). Could the profisafe be a reason or what could be other reasons?
Have you verified that this input is set for freedrive and that you are getting signal back on that input? If so, why not go ahead and TRY disabling profisafe to isolate your issue. If it still doesn’t work with it off, then it’s not your problem. If it DOES work, then it would appear that Profisafe and external freedrive don’t work together. Either way you can refine your search / question.