First Program

Description

The first program creation in PolyScope X enables you to teach the robot arm how to move using a series of waypoints to set up a path for it to follow.

To create a simple program	For this simple program, you (1) move to position A using a joint move type, (2) set an IO, (3) wait for 3 seconds, (4) unset the IO, (5) move to position B using again a joint move type, and (6) repeat the movement. Do not drive the robot into itself or anything else as this may cause damage to the robot. This is only a quick start guide to show how easy it is to use a UR robot. It assumes a harmless environment and a very careful user. Do not increase the speed or acceleration above the default values. Always conduct a risk assessment before placing the robot into operation.
System Manager access	In the main screen, tap the header to open the System Manager. Tap the add Program icon in the System Manager screen and choose Create New Program.
	Enter the program name and description in the two fields provided in the Create new program box. Tap Confirm. The main screen now shows your program name. At the multitask screen, you see the Main Program tab in yellow, indicating that program creation is to be started.
Initialize Robot	On the left side of the footer, tap Robot State to initialize.
	Tap Power On, then Unlock. Then you see the robot state as Active, and the activated button/slider of Play, High Speed Manual Mode, and Speed. On the main navigation, tap the Program menu icon. See Command Nodes.
Move to Position A	Tap Move To command. Note that in PolyScope X, the Waypoint node is merged to the Move to command. Two editable fields and two tabs are inserted into the program tree: Move type Name Edit Point More Use Joint move in the Move type field.
	Tap the Edit Point tab. The screen with the robot arm in 3D appears. To the right of the screen, you see the Move menu. Tap the plus-minus button of the X, Y, Z axes to set the position of your waypoint and Save.
Name the first waypoint	In the Name field, enter Point_A as the name in the Value editor tab and Confirm.
Set an IO	Tap the add icon in the program tree and the Set command icon. See Set. The set node is inserted into the program tree below the Move to command. Tap the Source field and select Wired IO. A Signal field is added. Select DO 0. A Value field is added to the right and select High.
Insert Waiting time	Tap the add icon and choose Wait command. See Wait command. In the Wait Type field, select Time. Tap the Time field and enter 3 (three seconds) in the Value tab and Confirm.
Unset an IO	To create a second Set node, repeat steps 12 to 14. In the Signal field, select DO 0. A Value field is added to the right and select Low.
Move to Position B	Tap the add icon in the program tree. Repeat steps 7 to 10 to create a second waypoint. Move the robot arm position in a direction clearly distinguished from Point_A.
Name the second waypoint	In the Name field, enter Point_B as the name in the Value editor tab and Confirm. The main screen shows you the first created program.
Verify program in 3D viewer and Communication application	Tap the 3D Viewer icon on the main navigation. On the footer, tap the Play button. When you are in the program tree screen, the program in green color signifies that it is the current program execution.
	When you are in the 3D viewer and Operator screen, you see the robot move. On the side of the three-dimensional graphics, you can see the numerical details of the robot parts, position, and orientation.
	Go to the Application tab and tap the Communication icon. See Communication. You see that Digital Out 0 (DO 0) updates (button turns blue) when you tap the play button in the footer. Keep your head and torso outside the reach (workspace) of the robot. Do not place fingers where they can be caught.