Your UR robot and your conveyor line, working as one cell.

What it does

• Connects the UR robot over Ethernet (TCP) to the line's 7HMI conveyor panel.
• The robot sees the whole line live: running, stopped, faulted, and the fault text.
• Before each pick it asks the panel to stop the bed it works on, waits for zero-speed confirmation, picks, then hands the bed back.
• The robot can also start, stop and reset the whole line.

Key features

• Live line diagram on the setup screen: beds show green when running, grey when stopped and red when faulted, with the robot's own beds marked. Tap a bed to make it the robot's default zone.
• START LINE / STOP LINE / RESET FAULTS, each with a second tap to confirm. STOP is the line's controlled stop: moving cartons finish at their next photo-eye. A start is refused while an E-stop is active.
• Pick Window node: put your approach, pick and place moves inside it. It stops the chosen bed, waits up to a set time for the stop, keeps watching that the bed stays stopped (and can halt the robot if the hold drops), and releases the bed when its moves finish. Each Pick Window can choose its own bed.
• Line node: start, stop or reset the whole line from a program, and optionally wait until the line reports RUNNING or STOPPED.
• If something goes wrong: when the conveyor doesn't stop in time, or the panel refuses, the program stops with an error or skips that pick and continues. You choose which.
• Script functions for If, Wait and Assignment nodes: line running, line faulted, line state, conveyor running/faulted, fault text, request/release the stop, choose the bed, line start/stop/reset.
• Fail-safe link: a heartbeat runs every 200 ms; after 1 s with no messages the link counts as lost. If the link drops while a bed is held, the panel keeps that bed stopped and latches a fault until an operator resets it.

What it does

Each pass of the Load Case node handles one product (put it in a Loop): the robot waits for a product at the pick bed's photo-eye and stops that bed, grips the product, and sets it in the next place in the case the panel is holding on the case bed. A full case is sent on and the next one caught.

Key features

• Case & product: case inside size and clearance to each wall, product size and weight, and a live top view of one layer with the placing order, per-layer and per-case counts and product weight.
• Packing pattern: Best fit turns the products whichever way holds more; Lengthwise or Crosswise fix the direction. Number of layers (or "as many as fit"), gap between products and divider (partition) thickness; approach height, release height and travel speed.
• Two beds, one line: pick the product bed and the case bed by tapping them on the live line diagram.
• Case catch: the panel stops the case the instant it blocks the case bed's photo-eye and holds it until it is full. The release is protected, so a restart never makes the robot refill a full case.
• Teach three points: the case corner, one point along the near wall, and the pick position (product top).
• Case control: Set count resumes a part-filled case, Empty fills it again from product 1, and Send case on lets the case go as it is.
• Gripper: vacuum (cups on the product's top) or 2-finger (closes across the product's width; products are spaced to leave room for the fingers). Grip confirm: if the grip isn't confirmed in time, the robot stops with a message instead of carrying nothing to the case.