14.2 Program Tab
14.2.4 Undo/Redo Buttons
The buttons with icons and in the toolbar at the base of the Program Tree serve to undo and
redo 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 buttons 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
percentage 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 between 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.
DANGER:
1. Make sure to stay outside the robot workspace when the Play
button is pressed. The movement you programmed may be dif-
ferent than expected.
2. Only use the Step button when it is absolutely necessary. Make
sure to stay outside the robot workspace when the Step button
is pressed.
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 ex-
ecution.
While the program is being written, the resulting motion of the robot arm is illustrated using a 3D
drawing on the Graphics tab, described in 14.31.
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 II-72 Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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