Hi,
I want to know if there is a way to check whether the robot is moving or stopping.
One question, do you want to know if the robot is stopping or stopped? If so, you could set an output to tell you if the arm is in motion or stopped.
@aofk159 You can also try the is_steady() script function to check if robot is fully in rest.
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Are there any examples to refer to?
Perhaps the “Robot Not Stopping” safety output is an option.
You could monitorizing the 30003 port (125Hz) of the robot
If you familiar in the Node.js here is a modul to receive data (including joint and Chartesian position, etc) from Universal Robots:
and it is an example for usage:
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Can you elaborate on what output to set and how can we receive it?
You can set outputs to have certain states when playing versus not playing on the IO tab on the installation screen. You can then use those states to monitor the robot. For instance, we use a stack light from Banner and have it wired to show whether the robot is playing or not, green light is set to be high when not running, meaning safe to approach, and red is set to be high when stopped
You can also set boolean general purpose register bits the same if you want to monitor from another system such as a PLC.
Here is some information from the manual
You can also use the confiugurable outputs and set the states per following information from the manual. One of the states you can choose is Robot Moving which turns the signal low when the robot is mving and high if its is not. I believe though this is literally robot motion monitor, regardless of program state. The Output states above are based on the program state.
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