UR Program Change | User Guide

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

Prerequisite :

An .installation file should be available having the same name as the program.
For E Series UR Robots (Similar to step 16 in ) : 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"
For CB Series UR Robots (Similar to step 16 in ) : 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"
Make sure the end of the program moves the robot within the joint limits mentioned in the Step 17 for or .

Steps to setup the AMAS to trigger Additional Functionality

Using OTA Firmware Update Process

Using the steps mentioned in the section, reach the Configure Firmware Panel (Step 6)
In the Configure Firmware Panel scroll down to the field Main Program set it as extend.urp as default. In the field Additional Program please type in the name of the other program, which needs to be triggered for automation.
Click Save.
Click Flash Download to finish the OTA Firmware Update Process.

Using Adding New Robokit Process

If not setup during the OTA Firmware Update Process,
- In the Robokit Firmware Settings Panel scroll down to the field Main Program it should be set as extend.urp as default. In the field Additional Program please type in the name of the other program, which needs to be triggered for automation.
- If the setup was done during OTA Firmware Update Process the fields Main Program and Additional Program will be auto populated
Click Save. If no other field is updated in the Robokit Firmware Settings Panel then please ignore the prompt to restart the robokit; otherwise restart the robokit.
Click Save or Save Local and Device on the New Robokit Configuration Panel

Using Modify New Robokit Process

If not setup during the New Robokit Addtion Process,
- In the Robokit Firmware Settings Panel scroll down to the field Main Program it should be set as extend.urp as default. In the field Additional Program please type in the name of the other program, which needs to be triggered for automation.
- If the setup was done during New Robokit Addtion Process the fields Main Program and Additional Program will be auto populated
Click Save. If no other field is updated in the Robokit Firmware Settings Panel then please ignore the prompt to restart the robokit; otherwise restart the robokit.
Click Save or Save Local and Device on the Modify Robokit Configuration Panel

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.

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 Robokit panel:

Press the configuration button on top of the control panel UI attached to your left hand.
Press the RoboKit switch button on the opened configuration panel.
A floating Active RoboKits panel will be activated, which shows your active Robokits.