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Palletizer for Universal Robots - User Manual
–
Ver. 1.0
3.6.
Starting the program
On the UR, there are two ways to start the program. It is recommended to directly start the program
from the "Program" tab, by clicking the play icon.
Alternately,
exit to the main UR menu and select “Run Program”. Select “File” and load the wanted
program. Again start the program by clicking the play icon.
When trying to run a program one of the following popup messages may appear. Below the pop-up
messages are elaborated:
●
“Inverse kinematics check failed”
: This message indicates that the program is not able to
run the selected pattern file due to limitations of the physical setup. If clicking the button
“
continue
”,
the program will be executed and stop when the robot cannot reach the position
causing the error. This can be used to identify when the issue occurs.
●
“Lift in unknown position”
: This message is displayed when the lift is in an undefined
position. This can be because none of the lifts position sensors are activated, or because both
of the inputs are activated at the same time.
●
“Continue stack”
: This message is displayed to let the user continue stacking on the same
pallet. If the pallet has been replaced with an empty pallet, the user must reset the pallet.
●
“Replace pallet”
: This message appears if the physical setup does not have any sensors
located at the pallet positions. In this case the user must click continue when the pallet is
replaced with an empty pallet.
3.7.
Runtime variables
Name of Variable
Description
Palletizing_status
Show the status of the running program