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Run a program

Power on a UR cobot, release the brakes, load a program and play it from a PC in C# or Python, then follow it until its end.

Which way to choose
Prerequisites
Steps
Example
Troubleshooting
What to read next

This article shows how to start a program of a Universal Robots cobot from a PC, in C# or Python, and follow it until its end. It gives a complete program: check the remote control, power on, release the brakes, load the program, play it.

Which way to choose

Way	Robots	What it runs	Follow it with
Dashboard Server	CB-Series, e-Series	A `.urp` program saved on the robot	`GetProgramState()`, `IsProgramRunning()`
REST API	PolyScope X	A program saved on the robot	`GetProgramState()`
URScript	All	URScript sent by the PC, without a `.urp` file	`RobotModeData.ProgramRunning`

The Dashboard Server and the REST API run the programs made in PolyScope: the operator sees them and can stop them. URScript suits a short sequence generated by the PC. See Send URScript.

Prerequisites

The service Dashboard Server is enabled (PolyScope 5), or the robot runs PolyScope X: see Prepare the robot.
The robot is in remote control.
The program exists on the robot. To send it from the PC, see Transfer files and backups.

Steps

Step	Dashboard Server	REST API (PolyScope X)
Check the remote control	`IsInRemoteControl()`
Power on	`PowerOn()`, wait for `Idle`	`PowerOn()`
Release the brakes	`ReleaseBrake()`, wait for `Running`	`BrakeRelease()`
Load the program	`LoadProgram("name.urp")`	`LoadProgram("name")`
Play	`Play()`	`Play()`
Follow	`GetProgramState()`	`GetProgramState()`
Pause, stop	`Pause()`, `Stop()`	`Pause()`, `Resume()`, `Stop()`

Example

The program uses the Dashboard Server. For PolyScope X, the same steps are in REST API.

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Common;
using UnderAutomation.UniversalRobots.Dashboard;

class HowToRunProgram
{
  static void Main(string[] args)
  {
    
    var robot = new UR();

    // Primary Interface and Dashboard Server
    robot.Connect("192.168.0.1");

    // e-Series: the robot must be in remote control
    if (!robot.Dashboard.IsInRemoteControl().Value)
    {
      Console.WriteLine("Switch the robot to remote control on the teach pendant");
      return;
    }

    // Power on, then release the brakes
    robot.Dashboard.PowerOn();
    WaitForMode(robot, RobotModes.Idle);
    robot.Dashboard.ReleaseBrake();
    WaitForMode(robot, RobotModes.Running);

    // Load the program: a path relative to the programs folder, or absolute
    var load = robot.Dashboard.LoadProgram("pick_and_place.urp");
    if (!load.Succeed)
    {
      Console.WriteLine(load.Message);
      return;
    }

    robot.Dashboard.Play();

    // Follow the program until it stops
    while (true)
    {
      ProgramState state = robot.Dashboard.GetProgramState().Value;
      Console.WriteLine(state.Name + ": " + state.State);
      if (state.State == ProgramStates.Stopped) break;
      Thread.Sleep(500);
    }

    robot.Disconnect();
    
  }

  
  static void WaitForMode(UR robot, RobotModes mode)
  {
    var timeout = DateTime.Now.AddSeconds(30);
    while (robot.Dashboard.GetRobotMode().Value != mode)
    {
      if (DateTime.Now > timeout) throw new TimeoutException("Robot mode is not " + mode);
      Thread.Sleep(250);
    }
  }
  
}

GetRobotMode() is polled until the arm is powered (Idle), then until the brakes are released (Running). The program state is polled every 500 ms until Stopped.

Troubleshooting

LoadProgram fails: the path is wrong. A relative path starts in the programs folder of the robot (/programs).
The commands fail with a message about the remote control: switch the robot to remote control on the teach pendant.
ReleaseBrake does nothing: the arm is not powered, or a protective stop is active. See Read and reset alarms.
The program stops at once: the installation of the program is not the loaded installation, or a popup waits on the teach pendant.

Eine Frage?

AbbVie

GE

Lockheed Martin

Microsoft

Nissan