Hello everyone,
Trying to program a UR5 here with a plc siemens controller. The robot will be put in a system. It has its own operation but when it receives a signal (bool type) from the system it has to stop. After that I will have a button that will start it again from the position it stopped. Is that even possible?
I have been looking for a solution using the URscript Reference and the best I could come up was to halt the program when the signal comes. But that won’t allow me to start it again.
Thanks you for the attention
You can Pause the program then restart it
see from the UR5 Manual
17.1.6 I/O Actions and I/O Tab Control
Input Actions The eight standard general purpose Digital Inputs and the two Digital Tool inputs
as well as the general purpose input registers of type boolean may trigger an action. Available
actions include the ability execute the following actions on a rising edge:
• Start the current program
• Stop the current program
• Pause the current program
If you set it up in the Installation tab
you could also use the safeguard stop safety input.