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afonsocastro / larcc_interface

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Freedrive button installation #3

Closed afonsocastro closed 2 years ago

afonsocastro commented 2 years ago

In order to ease the creation process of future features, it would be very helpful to have an external button with the freedrive function. With the purpose of creating a hand-free system, the external button should be a pedal, being the pedal the most suitable solution.

Our UR10e cobot already has the FreeDrive mode installed and working on the Teach Pendant, by continuously pressing the small round black button that is on the Teach Pendant back. The gold here is to take that feature to the external pedal, probably by using the controller I/Os.

The UR10e user manual can be found here: https://s3-eu-west-1.amazonaws.com/ur-support-site/41240/UR10e_User_Manual_en_US.pdf

I think the proper pages to the better I/Os understanding are in the 5.4 chapter "Controller I/O". (page I-30 to page I-40)

Joel-Baptista commented 2 years ago

After reading the robot's documentation, I found that it is possible to associate existing functions to digital inputs. For now, the robot will automatically engage in FreeDrive mode whenever the DI0 in On. This is accomplished by closing the connection between the 24V outlet and the DI0 outlet.

If needed, the password to edit Safety properties is: lardemua

To edit events associated with I/O go to: Installation --> I/O Setup

Joel-Baptista commented 2 years ago

The task is completed. The system is working with a pedal that closes the connection between the 24V source and the DI0, which activates the FreeDrive mode. Now, the activation of the FreeDrive mode is hands-free and doesn't require the dashboard