We are currently working on multiple robot-cells with Poly X UR20’s.
A thing i cannot wrap my head around is, how are the customers supposed to home the robot, if anything happens, like the robot crashing or they need to move it?
Usually on the Poly 5 robots, the move-tab is enabled so that they can freely move it if needed.
It seems, I have to create a “Safely-homing” Subprogram, that utilizes get_actual_tcp_pose() and a lot of if-statements with movements to get out of tricky situations.
First check if home, if not then set current position values to a variable. I then change the X &Z element to a fixed location. Move to that. Repeat for Y. Then go home.
We are currently implementing an “Initial Position” drop-down in PolyScope X that will make it possible for you to specify a specific starting position for the operator to press-to-move to.
Access to the Move Tab in Automatic mode is only possible in PolyScope 5 when a Standard Teach Pendant is attached. When using the 3PE (which all robots will eventually have to use, cf. the updated ISO10218 standard), the Move Tab is not available.
We are aware of the need for a simple way for operators to recover from a crash or similar event and will be working on a more elegant approach that remains compliant with the updated ISO standard. This work will be done within the next 6 months.
Until then, the logic would have to be implemented in the Before Start sequence, as described by @WattsUp.