14.3 Variables
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 different 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
execution.
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 14.30.
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.
14.3 Variables
A robot program can make use of variables to store and update various values during runtime.
Two kinds of variables are available:
Installation variables: These can be used by multiple programs and their names and values are
persisted together with the robot installation (see 13.10). Installation variables keep
their value after the robot and control box has been rebooted.
e-Series II-68 Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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