Need to skip part of a program when input is high

Technical Questions URScript
1

Hello,
TLDR: I’m trying to get this UR10 cobot to skip part of a program, and run a different part.

I have my UR10 setup to tend a new robodrill. Currently, I have a macro setup to stop the robodrill every X parts so I know I need to preform a repeatability check on 10 parts. This means it will stop at night which id rather not have. So withen the macro I added a output to the cobot, so now when it hits x parts, it will make a input (on the cobot) high. Now comes my issue, im not sure how to skip part of the code where it dumps the parts in the finish bin. As I need it to set the part in a separate spot based on the status of the input. Then go back to the finished part pile when the input is low. Coming from fanuc b macros, I would just use a goto but I’m not sure if that’s the same here. Thanks!

2

Your explanation is a bit vague, but to me it sounds like your issue could be solved with a simple if/else? :slight_smile:
I imagine you’re familiar with that command, though, so that probably doesn’t do it for you.

Have a read here: UR3e, Inspection program, Jump position - #4 by laska

This could be the same thing you’re looking for, since you mention goto. :slight_smile:

2 Likes
3

Not sure what I was thinking that day, an If/Else statement works perfectly, thanks.

1 Like