Output signal when the UR Robot enters in Protection Stop or Emergency Stop

[cacorrea]

Hi,

I would like to now if its there a way to make the robot alert via an output signal when it enters an emergency stop, for example , when it hits something, it stop automatically, but i would want to output a signal to a speaker alarm, so the person in charge of the operation of the robot hears this protection stop.

Best Regards,
César Correa.

[inu]

There are a few ways you can accomplish this task. For example you could access the internal modbus server on the controller and monitor the isProtectiveStop isEmergencyStop addresses, more info:

https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/modbus-register-and-digital-io-19252/

https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/modbus-server-16377/

You could do similar approach using the client interfaces:

https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/overview-of-client-interfaces-21744/

Or through some IO setup on polyscope as well:

[cacorrea]

Thanks, this is exactly what I needed