Appendix
64
OnRobot © 2018
www.onrobot.com
1.
Open the Setup Network page of the UR robot explained in “The Robot has
no IP address”.
2.
Modify the Subnet mask to the Hint value provided in the beginning of
“Discovery Tool was able to find OnRobot Device available in the Network”,
in this example to “255.255.0.0”.
3.
Press the Apply button.
Repeat the steps in Example Setup
Example Setup
.
6.5.3
Too Close to Singularity
During hand guiding, if the tool is guided too close to the cylindrical volume
directly above or below the robot base, a warning message is displayed.
Pressing the
Stop Program
button will disable the Hand Guide function. Pressing
the
Continue
button will switch to Safe Mode, which prevents the tool flange from
moving into the cylindrical volume directly above or below the robot base by the
Hand Guide function. Moving 10 mm away from that volume turns Safe Mode off,
enabling movement in all directions again.
For safety and accuracy, the Hand Guide mode keeps the tool flange
at a greater distance from the cylindrical volume than the physical
possibility of the UR robot. Moving the tool flange closer is possible,
by using the PolyScope Move tab, or move commands.
