Programming; Processing - Universal Robots UR3 Installation Manual

6. Programming

6.1 Processing

Relevant
Threads or Many parallel or computationally-
Events used in intensive processes can put additional
the program? strain on the robots control software. The
use of threads should be carefully
YES considered, and overuse might cause
NO the PolyScope GUI to seem slow and
unresponsive. Efficient programming is
important.
Switch/case Verify that switch case statements are
Used? used in a non-stressful way on robot.
YES Do not use blend in last or first
NO waypoints in cases. It could cause
problems when jumping through cases.
Does robot This error happens due to the fact, that
show "runtime
all operations do not necessarily use
error / infinite physical time code segments that
loop"? execute only one command repeatedly
might cause the runtime interpreter to
YES view this command sequence as an
NO infinite loop.
Use wait command or sync() function for
avoiding runtime errors.
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Description
9
Further Information
UR User Manual
Chapter "Event" &
"Thread"
UR User Manual
Chapter "Switch"
UR Script Manual
function "sync()"
UR Support Site
Article "Runtime
error/Infinite loop"
Installation Guide (en) 1.3.3
Checked