14.11 Command: Popup
The command can also be used to set the payload of the robot arm. Adjusting the
payload weight can be necessary to prevent the robot from triggering a protective
stop, when the weight at the tool differs from the expected payload. As default the
active TCP is also used as the center of gravity. If the active TCP should not be used
as the center of gravity the checkbox can be unchecked.
The active TCP can also be modified using a Set command. Simply tick the check
box and select one of the TCP offsets from the menu. If the active TCP for a par-
ticular motion is known at the time of writing of the program, consider using the
TCP selection on the Move card instead (see 14.5). For further information about
configuring named TCPs, see 13.6.
14.11 Command: 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.
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
II-81 CB3
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