UR Program Change

Instruction how to use the AMAS to trigger different UR programs.

AMAS uses the extend.urp as the main program running on the teaching pendant to control the robot and perform teleoperation tasks. In some scenarios, the user might want to trigger another UR Program to perform some automated tasks.

Prerequisite :

1. An .installation file should be available with the same name as the program.

2. For E Series UR Robots (Similar to step 16 in Initial Setup Instruction ): In the installation tab on the teach pendant, navigate to the URCaps section. Select External Control and set the following parameters:

   1. Remote Host IP: 11.0.0.2

   2. Port: 50002

   3. Host Name: "Control from RoboKit"

3. For CB Series UR Robots (Similar to step 16 in Initial Setup Instruction ): In the installation tab on the teach pendant, navigate to the External Control and set the following parameters:

   1. Remote Host IP: 11.0.0.2

   2. Port: 50002

   3. Host Name: "Control from RoboKit"

4. Ensure the program's end moves the robot within the joint limits mentioned in Step 17 for CB Series Initial Setup or E Series Initial Setup.

Steps to set up the AMAS to trigger Additional Functionality

Using Firmware Update Process

• Add a UR robot using the following robot configuration process.

• Specify the URP program to use in addition to the main program.

• Complete the process of updating the Cortex with the new configuration.

Steps to trigger the program Changes:

AMAS, by default, starts the extend.urp on startup of the Robokit.

1) To switch between the Main Program and Additional Program, the user would need to press the A button on the Right Hand Oculus Control.

Oculus Right Hand Controller With Button Mapping

Note: Once the A button is pressed to switch a current program, it is disabled for 3 seconds to handle multiple button press scenarios. 2) The second method to trigger the program changes is to click on the switch button on the Active UR RoboKit item. To get to the Active Robot panel:

• Click the Configuration tab in the wrist panel.

• Click on the dropdown button next to the Cortex button, which will open Robots and Sensors buttons.

• Press on the Robots button, which will open the Active Robots panel.

• A floating Active Robots panel will be activated, which shows your active Robots.

Active Robokit Panel. Switch Button