After the power is turned on on your Forge/Ctrl and UR teach pendant, your pendant should show a sequence of screens and then arrive at the End User License Agreement (EULA).
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Please read and accept the EULA.
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If your system boots to the Hardware Configuration screen, then Initial Config is already configured and you can skip to step 16. Otherwise, continue to step 4.
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Next, you will see the network selection screen. Select the type of network that you would like to use or tap SKIP if you do not want to configure a network at this time. You can revisit and change your network settings at any point after your system is configured.
Cellular Your Forge/Ctrl comes with an internal cellular modem. If you do not know your facility’s wireless settings and want to connect to a network, select CELLULAR.
Wireless If you select WIRELESS, you will need to enter the wireless network name (SSID) and password.
Wired If you select ETHERNET, you can connect your Forge/Ctrl to the internet by using the WAN Ethernet port on the Forge/Ctrl.
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Next, you may wish to set up Administrative (Admin) PIN. Forge/OS offers two roles, an Operator and an Administrator.
▪ Operator: limited to loading existing tasks/setups and executing tasks.
▪ Administrator: full access to all the features and functionality in Forge/OS.
For a full list of permissions, see the "User Roles" subsection of "The Control Suite" chapter in the user manual.
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Note: If you choose not to create a PIN during initial configuration, you can create one at any time after your system is configured.
IMPORTANT: If you set up an Admin PIN right now, then your system will start in the limited Operator role each time the system is reset. To switch to Admin mode, you must tap the menu labeled READY ROBOTICS in the bottom left corner of the screen and then tap USER ROLES and select
Administrator.
Tap NO to skip this step or tap YES if you would like to set up this feature.
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If you tap YES, enter the 4-digit pin that you would like to use.
Enter the pin. Tap SAVE PIN. The pin is saved in the system.
IMPORTANT: If you lose or forget your PIN you will have to contact READY technical support to reset it. The READY support number is 1(833)732-3977.
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Select the timezone in which your Forge/Station is located. Scroll in the list to locate your timezone. Tap the timezone listing that corresponds to your location. After selecting your timezone, tap NEXT.
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On the next screen, select Universal Robots and then tap NEXT.
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Select the model of your Universal Robots robot arm on the next screen.
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The next screen provides selection for if your robot has an internal force sensor. If you are using a Universal Robots e-Series cobot, there is a built in force sensor , so tap YES.
The next screen asks if you have a READY TeachMate with your robot. TeachMate V1 and V2 are shown below. If you are not using either of these, tap NO and skip to step 12. If you have one of these, tap YES.
If you indicated that you do have a TeachMate, you will be asked which version of the Teachmate you are using and if the TeachMate is inline with your end effector. If the TeachMate is mounted onto wrist 3 like in the image below, tap YES.
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The IP Address and other network information on this screen needs to be entered into the network settings of the UR Pendant.
Shift your attention to the UR teach pendant.
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Tap the "hamburger" menu in the top right corner of the screen.
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Tap on Settings from the drop down.
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Tap on System in the left menu. This should open up a fly out menu, and in there tap on Network.
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Tap the radio button next to Static Address.
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Enter the IP address, Subnet mask, Default gateway, preferred DNS server, alternate DNS server as specified on the READY Pendant.
IMPORTANT: Make sure to hit the green check mark when entering values on the UR or the value will not be saved.
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Once you have entered the information (the exact numbers may be different for your system), tap Apply.
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You should see a green check mark next to Network is Connected if the settings are applied successfully.
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Locate the provided USB thumb drive and plug it into the open USB port on the READY Forge/Ctrl.
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IMPORTANT: If you were not provided with a USB thumb drive or cannot locate it, you can use any thumb drive that has 2GB or more of space; however, this step will will erase the files on it. Ensure that you back up any important data.
When the USB thumb drive is inserted, on the Forge Controller, a green check mark will show that the drive has been successfully connected.
Tap NEXT.
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Forge/OS will copy files to your USB thumb drive, and you should see a couple screen changes . 2
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Once the files are copied, tap OK to continue.
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On this next screen, remove the USB Thumb Drive from the READY Forge/ Ctrl so that you can insert it into the UR teach pendant.
Locate the USB port on the top right of the pendant attached to the UR controller. Plug the USB thumb drive into this USB port. The pendant will say Uploading safety program and then Remove USB drive.
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Remove the USB Thumb drive from the UR Pendant.
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Now you must reset the UR controller from the UR pendant. Press the power button and then select Restart from the menu that pops up.
Note: If you accidentally power off the UR controller, just power it back on once it is completely off.
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Wait for the UR controller to boot up again.
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Once the UR controller is restarted, put the robot into "remote" mode by following these steps.
Tap the “hamburger” menu in the top right corner. Tap Settings to get to the settings screen, and tap System.
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Tap Settings to get to the settings screen, and tap System.
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Tap on the Remote Control from the System drop down menu.
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Tap Enable. This will enable remote mode so that Forge/OS can control the UR robot arm.
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Tap the pendant icon in the upper right hand corner of the screen that says Local under it. Then tap Remote Control.
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Check that the Forge Pendant has updated to the following screen. Tap NEXT to continue.
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Forge/OS
Forge/OS
Forge/OS is the READY operating system on which you can program and execute applications for a variety of robot and automation systems. Forge/OS includes applications for creating robot tasks, manually configuring and controlling attached devices, and communicating job information from an automated cell to help track productivity.
Applications
Double check your configuration settings on the next screen. Tap COMPLETE SETUP once the correct settings are recorded.
Note: UR controller may not finish booting before you tap COMPLETE SETUP in the previous screen. Wait for the UR Teach Pendant to show that the UR Controller is running before tapping COMPLETE SETUP. It may take up to 2 minutes for the Forge/CTRL to configure properly.
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The controller will display a loading screen, that will say WELCOME, TO, FORGE/OS. Then the
Hardware Configuration screen will load once the configuration is complete. Tap on the bell icon on the bottom right of the screen. Then tap FIX. Now the Forge/Station is configured and ready for automation.
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Forge/OS has two native applications for configuring and controlling your automation equipment. Hardware Configuration enables you to select and modify attached devices and will open when you first power on your system. Task Canvas is where you can assemble the blocks and flowchart that create an executable task for all of the devices you configured in Hardware Configuration.
The first time you boot up a Forge/OS system you will go through the Initial Configuration process to set up basic system settings, the attached robot arm, and peripherals specific to the arm. For information about the Initial Configuration of your Forge/OS system, see the Initial Configuration chapter.
Whenever you start Forge/OS after completing Initial Configuration, you will begin at Hardware Configuration.
For information about setting up tools and devices, see the Hardware Configuration chapter.
Home Screen
The home screen is the landing screen outside of Forge/OS applications.
Tap Create Task to access TaskCanvas with a new task.
Tap Load Task to access the Current Tasks screen and view the saved tasks on your system.
The Status Bars on the left and right edges of the screen display the current mode of the Forge system.
The Control Suite across the bottom of the screen gives you access to System Settings and manual controls for the robot and attached devices.
System Modes
The current mode of the Forge system is indicated by the status bars on the left and right edges of the screen.
If you have a TeachMate, it will also indicate the current mode with the colored LED.
▪ Teach mode is for programming tasks and executing task actions at safe speed. In Teach mode, you can Step blocks on the Task Canvas and move the robot arm at a reduced speed. You can also manually control attached devices and pneumatic ports.
▪ Run mode is for executing Task Canvas tasks at full speed. Depending on your hardware and safety configuration, all safety devices must be active and functional to enter Run mode.
▪ Robot Warning mode is a programming mode during which you cannot move the robot arm. You can access manual controls for certain devices in robot warning mode and you can still program all block types in Task Canvas. On Universal Robots arm, Robot Warning is also triggered by the robot arm’s Protective Stop mode.
▪ Robot Error indicates that something is wrong with the Forge/OS system, robot arm, or attached devices.
You cannot execute any functions in Robot Error and will have limited functionality in some applications, such as Hardware Configuration.
▪ (Universal Robots arms only) Guide mode allows you to move the robot arm by hand. When the arm is in Guide mode, you will have the same motion control as when holding the Teach button on the back of the UR pendant.