Installation Default Program; Loading A Default Program; Starting A Default Program; Auto Initialization - Universal Robots UR3/CB3 User Manual

13.14 Installation Default Program

13.14.1 Loading a Default Program

A default program can be chosen to be loaded when the control box is powered up.
Furthermore, the default program will also be auto loaded when the Run Program
screen (see 11.4) is entered and no program is loaded.

13.14.2 Starting a Default Program

The default program can be auto started in the Run Program screen. When the default
program is loaded and the specified external input signal edge transition is detected,
the program will be started automatically.
Note, on startup the current input signal level is undefined and chosing a transition
that matches the signal level on startup will start the program immediately. Further-
more, leaving the Run Program screen or pressing the stop button in the Dashboard will
disable the auto starting feature until the run button has been pressed again.

13.14.3 Auto Initialization

The robot arm can be automatically initialized, for instance when the control box is
powered up. On the specified external input signal edge transition, the robot arm will
be completely initialized, irrespective of the visible screen.
The final stage of initialization is brake release. When the robot is releasing the brakes,
it moves a bit and makes a sound. Furthermore, the brakes cannot be automatically
released if the configured mounting does not match the mounting detected based on
sensor data. In this case, the robot needs to be initialized manually in the initialization
screen (see 11.5).
Note, on startup the current input signal level is undefined and chosing a transition
that matches the signal level on startup will initialize the robot arm immediately.
Version 3.3.3 II-59 CB3