Undo/Redo Buttons - Universal Robots UR5 User Manual

14.2.4 Undo/Redo Buttons

The buttons with icons
changes made in the program tree and in the commands it contains.
14.2.5 Program Dashboard
The lowest part of the screen is the Dashboard. The Dashboard features a set of but-
tons similar to an old-fashioned tape recorder, from which programs can be started
and stopped, single-stepped and restarted. The speed slider allows you to adjust the
program speed at any time, which directly affects the speed at which the robot arm
moves. Additionally, the speed slider shows in real time the relative speed at which
the robot arm moves taking into account the safety settings. The indicated percent-
age is the maximum achievable speed for the running program without violating
the safety limits.
To the left of the Dashboard the Simulation and Real Robot buttons toggle be-
tween running the program in a simulation, or running it on the real robot. When
running in simulation, the robot arm does not move and thus cannot damage itself
or any nearby equipment in collisions. Use simulation to test programs if unsure
about what the robot arm will do.
While the program is being written, the resulting motion of the robot arm is illus-
trated using a 3D drawing on the Graphics tab, described in 14.29.
Next to each program command is a small icon, which is either red, yellow or green.
A red icon means that there is an error in that command, yellow means that the
command is not finished, and green means that all is OK. A program can only be
run when all commands are green.
CB3
and below the program tree serve to undo and redo
DANGER:
1. Make sure to stay outside the robot workspace when the
Play button is pressed. The movement you programmed
may be different than expected.
2. Make sure to stay outside the robot workspace when the
Step button is pressed. The function of the Step button can
be difficult to understand. Only use it when it is absolutely
necessary.
3. Make sure to always test your program by reducing the speed
with the speed slider. Logic programming errors made by the
integrator might cause unexpected movements of the robot
arm.
4. When a emergency stop or protective stop has occured, the
robot program will stop. It can be resumed as long as no joint
has moved more than 10 . When pressing play, the robot will
move slowly back onto the trajectory, and continue program
execution.
II-68
14.2 Program Tab
Version 3.4.5