# \#machine-tending **URL:** https://forum.universal-robots.com/tag/machine-tending/159.md [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) --- ## [EASY: Method to Clean Up Filespace on Polyscope](https://forum.universal-robots.com/t/easy-method-to-clean-up-filespace-on-polyscope/14291)
**Author:** [@anon507564](https://forum.universal-robots.com/u/anon507564)\ **Replies:** 46\ **Last updated:** [February 21, 2025, 1:57pm UTC](https://forum.universal-robots.com/t/easy-method-to-clean-up-filespace-on-polyscope/14291 "2025-02-21T13:57:56Z")
Summary A feature to clean up the old files leftover from deleting or saving .urp files. What is it? When a user deletes either \*.urp or \*.installation files the \*.txt, \*.script, and \*.variables files are still presen… --- ## [Handling byte strings over socket](https://forum.universal-robots.com/t/handling-byte-strings-over-socket/19464)
**Author:** [@roguebuck](https://forum.universal-robots.com/u/roguebuck)\ **Replies:** 3\ **Last updated:** [May 22, 2024, 12:05pm UTC](https://forum.universal-robots.com/t/handling-byte-strings-over-socket/19464 "2024-05-22T12:05:50Z")
I am trying to communicate with a Haas CNC via their machine data collection, “Q” commands via URScript. Seems simple enough: send a query, read the response. You can find documentation here: Machine Data Collection - N… --- ## [Interrupt, then Resume de-Palletizing program?](https://forum.universal-robots.com/t/interrupt-then-resume-de-palletizing-program/17357)
**Author:** [@bruce2](https://forum.universal-robots.com/u/bruce2)\ **Replies:** 9\ **Last updated:** [February 8, 2024, 2:03pm UTC](https://forum.universal-robots.com/t/interrupt-then-resume-de-palletizing-program/17357 "2024-02-08T14:03:41Z")
Is there a way to setup a de-palletizing program so that it can be interrupted and then resumed at the correct next part in the operation? We have a pick table that holds 240 parts (setup as 24 stacks of 10 parts) which … --- ## [Is there a general guide for the UR e-series on controlling the coBot via languages different from URScript?](https://forum.universal-robots.com/t/is-there-a-general-guide-for-the-ur-e-series-on-controlling-the-cobot-via-languages-different-from-urscript/17301)
**Author:** [@anon39341532](https://forum.universal-robots.com/u/anon39341532)\ **Replies:** 10\ **Last updated:** [January 4, 2024, 2:16pm UTC](https://forum.universal-robots.com/t/is-there-a-general-guide-for-the-ur-e-series-on-controlling-the-cobot-via-languages-different-from-urscript/17301 "2024-01-04T14:16:36Z")
Browsing this Forum, I’ve come across people who use java or python to program their CoBot. I however don’t have a clue how this is done, so in this question I want to ask for all the general ways on how to do that. The… --- ## [Position cannot be repeated, deviation of several millimeters](https://forum.universal-robots.com/t/position-cannot-be-repeated-deviation-of-several-millimeters/18014)
**Author:** [@anon78716637](https://forum.universal-robots.com/u/anon78716637)\ **Replies:** 16\ **Last updated:** [January 2, 2024, 5:50pm UTC](https://forum.universal-robots.com/t/position-cannot-be-repeated-deviation-of-several-millimeters/18014 "2024-01-02T17:50:45Z")
Hello everybody, for my application I need my UR10e robot to repeatendly drive to an Position. However, even if that works for a couple of times, at some point the robot always starts missing the given Position by up to… --- ## [How to prevent renaming variables when using Subprog?](https://forum.universal-robots.com/t/how-to-prevent-renaming-variables-when-using-subprog/16967)
**Author:** [@psiahaya](https://forum.universal-robots.com/u/psiahaya)\ **Replies:** 9\ **Last updated:** [June 26, 2023, 8:26pm UTC](https://forum.universal-robots.com/t/how-to-prevent-renaming-variables-when-using-subprog/16967 "2023-06-26T20:26:05Z")
Hello, How can I prevent Polyscope from asking me to rename variables when using “Subprog”? Some context: I made a program which I use for machine tending. It runs well, only I want to split the program into two progr… --- ## [TCP Rotating When Moving in Straight Line](https://forum.universal-robots.com/t/tcp-rotating-when-moving-in-straight-line/18644)
**Author:** [@anon507564](https://forum.universal-robots.com/u/anon507564)\ **Replies:** 15\ **Last updated:** [March 31, 2023, 5:15am UTC](https://forum.universal-robots.com/t/tcp-rotating-when-moving-in-straight-line/18644 "2023-03-31T05:15:07Z")
When moving using the arrows in the TCP position section of the move screen (the straight arrows), the TCP rotates as much as 10 degrees from one end of the table to the other on one of my two UR10e’s. It ONLY happens o… --- ## [FEEDBACK REQUESTED- Simulation-Based Machine Tending Training](https://forum.universal-robots.com/t/feedback-requested-simulation-based-machine-tending-training/16659)
**Author:** [@coad](https://forum.universal-robots.com/u/coad)\ **Replies:** 0\ **Last updated:** [September 23, 2021, 2:49pm UTC](https://forum.universal-robots.com/t/feedback-requested-simulation-based-machine-tending-training/16659 "2021-09-23T14:49:46Z")
We need your help! Universal Robots would like to continue to develop award winning training in a complete virtual environment, but we need you feedback to ensure that we are addressing what industry struggles with on a … --- ## [Test Z Position Against A Stored Z Position](https://forum.universal-robots.com/t/test-z-position-against-a-stored-z-position/23245)
**Author:** [@anon507564](https://forum.universal-robots.com/u/anon507564)\ **Replies:** 4\ **Last updated:** [August 15, 2022, 6:14pm UTC](https://forum.universal-robots.com/t/test-z-position-against-a-stored-z-position/23245 "2022-08-15T18:14:00Z")
I’m machine tending with a UR10 and use a pin bolted to the side of one of my Hand-E Grippers to position the part through a hole before closing the vise on it. I load the part with the Gripper finger, then rotate aroun… --- ## [Safety Scanner and Manual Mode](https://forum.universal-robots.com/t/safety-scanner-and-manual-mode/23078)
**Author:** [@anon74662158](https://forum.universal-robots.com/u/anon74662158)\ **Replies:** 11\ **Last updated:** [August 10, 2022, 12:50pm UTC](https://forum.universal-robots.com/t/safety-scanner-and-manual-mode/23078 "2022-08-10T12:50:18Z")
Hello everyone, We just installed a UR10e with an addition of a Safety Scanner (Leuze RSL 400). Everything is working fine (the reduced speed zone and the stop zones). However when we are setting up a new program, or… --- ## [Robot connection to sinumerik](https://forum.universal-robots.com/t/robot-connection-to-sinumerik/22253)
**Author:** [@anon34180170](https://forum.universal-robots.com/u/anon34180170)\ **Replies:** 3\ **Last updated:** [August 10, 2022, 6:56am UTC](https://forum.universal-robots.com/t/robot-connection-to-sinumerik/22253 "2022-08-10T06:56:17Z")
hello . tell me if it is possible to connect the robot UR10e to work with a lathe directly without using additional devices. if possible, attach some kind of diagram to the message. If not possible then tell me the easie… --- ## [Tending two machines](https://forum.universal-robots.com/t/tending-two-machines/22459)
**Author:** [@anon31961231](https://forum.universal-robots.com/u/anon31961231)\ **Replies:** 3\ **Last updated:** [July 10, 2022, 6:05pm UTC](https://forum.universal-robots.com/t/tending-two-machines/22459 "2022-07-10T18:05:13Z")
I’d like to tend two machines with one robot How do I accomplish this easily Both machines will send a service signal when needed Then the robot will need to take control of door open Chuck open and close and door clo… --- ## [Keyence Vision System Integration](https://forum.universal-robots.com/t/keyence-vision-system-integration/17905)
**Author:** [@anon32012504](https://forum.universal-robots.com/u/anon32012504)\ **Replies:** 2\ **Last updated:** [June 28, 2022, 6:59pm UTC](https://forum.universal-robots.com/t/keyence-vision-system-integration/17905 "2022-06-28T18:59:20Z")
I’m looking at using a keyence vision system for locating and determining orientation of parts for a machine tending application. I’m curious if anyone here has used their vision systems with a universal robot before and… --- ## [Why are the X/Y arrows wrong in TCP position move?](https://forum.universal-robots.com/t/why-are-the-x-y-arrows-wrong-in-tcp-position-move/22024)
**Author:** [@anon73020097](https://forum.universal-robots.com/u/anon73020097)\ **Replies:** 7\ **Last updated:** [June 17, 2022, 8:15pm UTC](https://forum.universal-robots.com/t/why-are-the-x-y-arrows-wrong-in-tcp-position-move/22024 "2022-06-17T20:15:33Z")
So let’s say I home the arm. The cable is sticking out the back, the shoulder and elbow blue joint caps are facing me. This is all hunkey dorey. When I’m using the “View” tab to move the arm, the TCP move forward/backwar… --- ## [Robot receiving movel command but not moving](https://forum.universal-robots.com/t/robot-receiving-movel-command-but-not-moving/21938)
**Author:** [@anon51317324](https://forum.universal-robots.com/u/anon51317324)\ **Replies:** 0\ **Last updated:** [June 13, 2022, 12:55pm UTC](https://forum.universal-robots.com/t/robot-receiving-movel-command-but-not-moving/21938 "2022-06-13T12:55:22Z")
Hey, I’m controlling the robot with PC via tcp\\ip connection to the secondary monitor, for machine tending application. It all worked well and I left it for night run, but when I came back next morning the robot was no… --- ## [Turn outputs on/off based on robot position using feature planes](https://forum.universal-robots.com/t/turn-outputs-on-off-based-on-robot-position-using-feature-planes/21446)
**Author:** [@anon43903668](https://forum.universal-robots.com/u/anon43903668)\ **Replies:** 0\ **Last updated:** [May 19, 2022, 5:38pm UTC](https://forum.universal-robots.com/t/turn-outputs-on-off-based-on-robot-position-using-feature-planes/21446 "2022-05-19T17:38:02Z")
I need a way to turn a digital output on/off using feature planes. I realize this can be done in a program using a thread. But, I think this should be an option for a configurable output. I am looking for the output to c… --- ## [Add Function "Until Contact" to Move Tab](https://forum.universal-robots.com/t/add-function-until-contact-to-move-tab/16143)
**Author:** [@anon507564](https://forum.universal-robots.com/u/anon507564)\ **Replies:** 19\ **Last updated:** [May 17, 2022, 12:02pm UTC](https://forum.universal-robots.com/t/add-function-until-contact-to-move-tab/16143 "2022-05-17T12:02:30Z")
Would like a feature added to the Move tab that acts similar to the Direction node where it will automagically stop when it contacts an object. Basically it would allow the user to move the TCP using the Arrows in the M… --- ## [C153A0:6 Protective stop](https://forum.universal-robots.com/t/c153a0-6-protective-stop/20990)
**Author:** [@junghyun\_1011](https://forum.universal-robots.com/u/junghyun_1011)\ **Replies:** 1\ **Last updated:** [May 2, 2022, 2:12pm UTC](https://forum.universal-robots.com/t/c153a0-6-protective-stop/20990 "2022-05-02T14:12:57Z")
Hello guys, We are receiving this error code - C153A0:6 Protective stop so often recently. The robot is being used for CNC Machine Tending / Dual grippers There is something we dont understand is that the error code po… --- ## [Ethernet IP configuration](https://forum.universal-robots.com/t/ethernet-ip-configuration/20547)
**Author:** [@anon31961231](https://forum.universal-robots.com/u/anon31961231)\ **Replies:** 1\ **Last updated:** [April 13, 2022, 2:03am UTC](https://forum.universal-robots.com/t/ethernet-ip-configuration/20547 "2022-04-13T02:03:48Z")
I have a machine tending application, where the machine interface is set up as the scanner. How do the GP I/o registers get mapped to the machine interface registers . If I set GP bool output (0) high , how does that ge… --- ## [Communicating with a machine that doesn't have simple Digital I/O to interface with](https://forum.universal-robots.com/t/communicating-with-a-machine-that-doesnt-have-simple-digital-i-o-to-interface-with/19995)
**Author:** [@jarrah.l](https://forum.universal-robots.com/u/jarrah.l)\ **Replies:** 4\ **Last updated:** [March 22, 2022, 12:45am UTC](https://forum.universal-robots.com/t/communicating-with-a-machine-that-doesnt-have-simple-digital-i-o-to-interface-with/19995 "2022-03-22T00:45:29Z")
Hey, I am still a little new to universal robots, however, have set up a few applications, which has given me enough knowledge to understand most problems i run into now (quick background of my experience level). The n… --- ## [Machine Tending Collaboration w/ "Sodick AD35L"](https://forum.universal-robots.com/t/machine-tending-collaboration-w-sodick-ad35l/20011)
**Author:** [@anon41178160](https://forum.universal-robots.com/u/anon41178160)\ **Replies:** 1\ **Last updated:** [March 21, 2022, 9:31pm UTC](https://forum.universal-robots.com/t/machine-tending-collaboration-w-sodick-ad35l/20011 "2022-03-21T21:31:16Z")
Good day, I was wondering how one would go about integrating a UR-5 to an EDM, make/model being in the title. I know the question is kind of out of the realm of this particular forum, but would anyone have any idea wher… --- ## [Safety with light curtain](https://forum.universal-robots.com/t/safety-with-light-curtain/18997)
**Author:** [@anon94804874](https://forum.universal-robots.com/u/anon94804874)\ **Replies:** 2\ **Last updated:** [February 7, 2022, 5:37pm UTC](https://forum.universal-robots.com/t/safety-with-light-curtain/18997 "2022-02-07T17:37:31Z")
Hello, we are using UR5 as main controller (we dont have any plc). the robot runs into a cell without reduced velocity! At our robot cell we want to add 2 light curtains. Depending on the sequence we want to: deacti… --- ## [How do YOU create a program?](https://forum.universal-robots.com/t/how-do-you-create-a-program/18980)
**Author:** [@nnaylor](https://forum.universal-robots.com/u/nnaylor)\ **Replies:** 4\ **Last updated:** [February 2, 2022, 3:04pm UTC](https://forum.universal-robots.com/t/how-do-you-create-a-program/18980 "2022-02-02T15:04:22Z")
I have a CB series that I program solely with the teach pendant. I’ve run into some issues recently where I feel that recreating a few programs from scratch would be the best route to go. I can print out “program”.TXT fi… --- ## [Learning URScript](https://forum.universal-robots.com/t/learning-urscript/18251)
**Author:** [@jarrah.l](https://forum.universal-robots.com/u/jarrah.l)\ **Replies:** 8\ **Last updated:** [December 20, 2021, 8:50pm UTC](https://forum.universal-robots.com/t/learning-urscript/18251 "2021-12-20T20:50:46Z")
I was wondering if there are any resources out there that would help to learn and feel more comfortable coding in URScript rather then on the teach pendant polyscope. --- ## [Robot Demo Ideas for Makerspace/Classes](https://forum.universal-robots.com/t/robot-demo-ideas-for-makerspace-classes/17670)
**Author:** [@anon31298519](https://forum.universal-robots.com/u/anon31298519)\ **Replies:** 6\ **Last updated:** [November 26, 2021, 4:00pm UTC](https://forum.universal-robots.com/t/robot-demo-ideas-for-makerspace-classes/17670 "2021-11-26T16:00:15Z")
Hi, I recently acquired a UR5 in a makerspace (MakerNexus) here in Sunnyvale, CA. I’m looking to use it to introduce the community to UR robots and help them learn about programming them and using them. Does anyone hav… --- ## [Creating a program](https://forum.universal-robots.com/t/creating-a-program/15857)
**Author:** [@apansera](https://forum.universal-robots.com/u/apansera)\ **Replies:** 4\ **Last updated:** [August 11, 2021, 2:50pm UTC](https://forum.universal-robots.com/t/creating-a-program/15857 "2021-08-11T14:50:03Z")
I am new to UR Robots and I am looking for advice on creating a program. I have gone through the online training it really does not address all situtions I have an oven that parts exit onto a table, the table has a sen… --- ## [Controller Freezing After Program Start](https://forum.universal-robots.com/t/controller-freezing-after-program-start/15527)
**Author:** [@anon32012504](https://forum.universal-robots.com/u/anon32012504)\ **Replies:** 2\ **Last updated:** [July 19, 2021, 5:45pm UTC](https://forum.universal-robots.com/t/controller-freezing-after-program-start/15527 "2021-07-19T17:45:41Z")
I’ve ran into an issue recently where after starting a program from the beginning the controller for the cobot freezes and needs to be restarted before it is usable again. The cobot will continue to run without issue unl… --- ## [Safeguard Stop based on machine stopping](https://forum.universal-robots.com/t/safeguard-stop-based-on-machine-stopping/15471)
**Author:** [@anon71167292](https://forum.universal-robots.com/u/anon71167292)\ **Replies:** 3\ **Last updated:** [July 15, 2021, 9:26pm UTC](https://forum.universal-robots.com/t/safeguard-stop-based-on-machine-stopping/15471 "2021-07-15T21:26:33Z")
I am running a UR5e with a machine tending application. I would like to set it up so that, when an error occurs on the tended machine and it is stopped, the robot also stops. The machine has a tower light (user manual o… --- ## [How to redo earlier part of program](https://forum.universal-robots.com/t/how-to-redo-earlier-part-of-program/15507)
**Author:** [@anon73932735](https://forum.universal-robots.com/u/anon73932735)\ **Replies:** 0\ **Last updated:** [July 16, 2021, 4:30pm UTC](https://forum.universal-robots.com/t/how-to-redo-earlier-part-of-program/15507 "2021-07-16T16:30:37Z")
Hi all, I can’t seem to find info on how to redo a section of code based on a variable. I am doing some machine tending with our UR5E and programming with Polyscope as I’m still generally new to using these. Still use … --- ## [Polyscope versus Python versus URScript](https://forum.universal-robots.com/t/polyscope-versus-python-versus-urscript/15192)
**Author:** [@anon71167292](https://forum.universal-robots.com/u/anon71167292)\ **Replies:** 1\ **Last updated:** [June 29, 2021, 7:28pm UTC](https://forum.universal-robots.com/t/polyscope-versus-python-versus-urscript/15192 "2021-06-29T19:28:00Z")
Hello all. I’m just getting started with UR and have an E-series cobot I’m programming to do a machine tending application. I have some experience with LabView, but have yet to branch into text-based programming. As I’… [Next page](https://forum.universal-robots.com/tag/machine-tending/159.md?match_all_tags=true&page=1&tags%5B%5D=machine-tending)