User manual
Lift Stand
Version EN 2018/09 (rev. 1.1)
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Figure 5.6 Program example with fixed values applied
5.2.2 Control of the LiftStand when using a variable
This method allows the user to control the height by a variable. This variable can be
an installation variable e.g. "palletlayer5" with a value, such as 325 [mm] or it can be
a global variable e.g. "currentlayer", such as can be set by a mathematical function,
depending on layer height and an iterations number. Determining the value of the
variable is up to the operator. Variables can be created using two methods. They can
be created via UR’ built-in functions (please refer to the robot's manual) and they can
be created in URCap'en. To create a new variable in the URCap, type an appropriate
name and press "Create New". Hereby a global variable is created, and this is set as
the selected variable under "Choose Variable:". An example of variable use is seen
on the Figure 5.7.
If the value of a variable, while driving, proves to be outside the stroke length of the
LiftStand, a pop-up warning will appear, and the program will stop.
