Universal Robots e Series User Manual page 149

15.5 Basic program nodes
Sets either digital or analog outputs to a given value. Digital outputs can also be set to send a single
pulse.
Use the Set command to set the payload of the Robot Arm. You can adjust the payload weight to
prevent the robot from triggering a protective stop, when the weight at the tool differs from the ex-
pected payload. If the active TCP should not be used as the center of gravity the checkbox must be
unchecked.
The active TCP can also be modified using a Set command, by selecting the check box and choosing
one of the TCP offsets from the menu.
If the active TCP for a particular motion is known at the time of writing of the program, you can
use the TCP selection by tapping Move in the Side Menu on the left, (see 15.5.1). For further
information about configuring named TCPs (see 16.1.1).
15.5.5 Popup
The popup is a message that appears on the screen when the program reaches this command. The
style of the message can be selected, and the text itself can be given using the on-screen keyboard.
The robot waits for the user/operator to press the "OK" button under the popup before continuing
the program. If the "Halt program execution" item is selected, the robot program halts at this popup.
Note: Messages are limited to a maximum of 255 characters.
Version 5.4 II-59 e-Series