Safeguard Stop and RT Interface Programs

Technical Questions URScript
1

I’m running a UR5 CB3 series robot on PolyScope 3.6.1.

I am running the robot by uploading a program over the RT interface. If a safeguard stop is encountered while this program is running, then the robot will not automatically resume execution. I also cannot resume execution using the dash board interface port, nor can I resume execution by manually taping the “Play” button on the UR Teach Pendant interface.

Oddly, if I create or load a simple program on the Teach Pendant first, execute it, and then stop its execution with the “Stop” button on the interface, the next time I upload my program over the RT interface protective stops work as expected.

Any explanation for why this might be the case? Any work arounds for this problem?

2

I’ve managed to find a work around, but I’d agrue this is a work around that should not need to be made.

To get safeguard stops to work correctly for a program loaded over the RT interface, I must first load a urp program on the pendant using the dashboard interface. After this program has been loaded, I can load the program over the RT interface and everything related to safeguard stops appears to work as expected.