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 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 Initial Setup Instruction ) : In the installation tab on the teach pendant, navigate to the URCaps section. Select External Control and set the following parameters:
Remote Host IP: 11.0.0.2
Port: 50002
Host Name : "Control from RoboKit"
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:
Remote Host IP: 11.0.0.2
Port: 50002
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 CB Series Initial Setup or E Series Initial Setup.
Steps to setup the AMAS to trigger Additional Functionality
Using OTA Firmware Update Process
Using the steps mentioned in the Over-the Air Firmware Updates section, reach the
Configure Firmware Panel
(Step 6)In the
Configure Firmware Panel
scroll down to the fieldMain Program
set it asextend.urp
as default. In the fieldAdditional 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
Using the steps mentioned in the addition of the robokit section, reach the
Robokit Firmware Settings Panel
(Step 9)If not setup during the OTA Firmware Update Process,
In the
Robokit Firmware Settings Panel
scroll down to the fieldMain Program
it should be set asextend.urp
as default. In the fieldAdditional 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
andAdditional Program
will be auto populated
Click
Save
. If no other field is updated in theRobokit Firmware Settings Panel
then please ignore the prompt to restart the robokit; otherwise restart the robokit.Click
Save
orSave Local and Device
on theNew Robokit Configuration Panel
Using Modify New Robokit Process
Using the steps mentioned in the modification of the robokit section, reach the
Robokit Firmware Settings Panel
If not setup during the New Robokit Addtion Process,
In the
Robokit Firmware Settings Panel
scroll down to the fieldMain Program
it should be set asextend.urp
as default. In the fieldAdditional 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
andAdditional Program
will be auto populated
Click
Save
. If no other field is updated in theRobokit Firmware Settings Panel
then please ignore the prompt to restart the robokit; otherwise restart the robokit.Click
Save
orSave Local and Device
on theModify Robokit Configuration Panel
Steps to trigger the program Changes:
AMAS by default start the extend.urp
on startup of the Robokit.
To switch between the Main Program
and Additional Program
, 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 that button is disabled for 3 seconds to handle multiple button press scenarios.