I want to configure this on a UR 10e. I have two magnetic sensors on a drawer – one for the “open” position and one for “closed”.**
When the drawer is either fully open or fully closed, one of the sensors is active. However, when the drawer is in the middle position (i.e., during movement or not fully open/closed), both sensors are inactive.
In this case, I want the robot to pause its program until the drawer is either fully open or fully closed again (i.e., until at least one of the sensors becomes active again).
How can I best implement this logic in Polyscope ?
You say you want it to actually pause the program? Can you not just delay the sequence until either is active?
This will make the sequence wait at this node until either of the signals is active.
Since this is a safety-relevant condition, I assume the sensor monitoring should run in a separate thread, so the robot can react immediately if both inputs are off.
In total, I have two drawers, each with two magnetic sensors (open and closed detection). The robot only works on one drawer at a time – for example, the left drawer. While the robot is working on the left side, I want to be able to open or close the right drawer manually. However, even in this case, the robot should pause immediately during the short moment when the right drawer is in an undefined position (i.e., both sensors are inactive), and only resume once the drawer is fully opened or closed again.
You cannot implement this logic in Polyscope directly, when you’re talking safety.
You will have to install a safety relay in this case in my opinion.
You will also have to use inductive sensors approved for safety applications. You should have one installed at each position of the drawer.
Then you can have the two inductive sensors on one drawer connect to the same input of the safety relay and the other two to the other input, so it will give a 24V signal at each location.
You can then connect the outputs of the safety relay to the safeguard inputs of the robot, which will make it pause (safely) whenever a drawer is not fully open or closed.
you can’t program safety. it needs to be wired correctly (like efn said) and then configured in the installation. you will never pass a PSHR inspection like this.
