Secondary program - 17257


SecondaryProgram - How to send a secondary program to controller

How to use secondary programs

Here it is shown how secondary programs can be used on Universal Robots.

What is a secondary program?

  • A secondary program is like a normal script program that can be sent to the Universal Robots controller via a TCP/IP connection to port 30002
  • A secondary program can be executed while the controller is executing a primary program (which e.g. moves the robot between waypoints)
  • A secondary program must follow the same script syntax as normal robot programs
  • A secondary program must be defined using the keyword "sec"
  • A secondary program may not take any physical time to execute

Example

Imagine the controller is executing this primary program:

def primaryProgram():
  while (True):
    movej([0.9434381127910002, -1.3082063255028469, 2.2063341418137945, -2.6507188134210273, -1.081363649387086, 4.80585136204575], a=1.3962634015954636, v=1.0471975511965976)
    movej([0.9433155477260482, -1.014172108307441, 2.246293286726412, -2.9852336083709154, -1.0813798520591593, 4.805802742045307], a=1.3962634015954636, v=1.0471975511965976)
  end
end

It is then possible to send this secondary program to the controller while the robot continues to move between the two waypoints in the primary program:

sec secondaryProgram():
  set_digital_out(1, True)
end

Since the example secondary program does not use any physical time to execute, the controller will handle turning digital output 1 on while still executing the primary program.

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