Prevent collision after program stop with a "Before Start Sequence"

Have you ever experienced your robot colliding with its surroundings when restarting it after a program stop? This tutorial will show you how to prevent collision with a "Before Start Sequence"
00:00 Introduction
00:30 Add before start sequence
00:40 Checking TCP position using script command get_actual_tcp_pose()
01:00 The 6 values of the pose variable
01:25 Which axes to check on the application
01:41 Isolating the Z value
02:19 Checking if the robot is in risk of collision
02:35 Modifying the pose variable
02:58 Moving the robot to modified position
03:14 Recap of before start sequence
03:43 Safety consideration
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[@cornegeneugelijk2675]

this is very handy, ceep up the good work

[@VeneraVarbanova]

Super useful, thank you!

[@I_vantheory]

nice info. Thanks

[@gokhankaraca6949]

Thank u Universal Robots 👍

[@MeirZiskin]

Thanks!!

[@hediyehb9082]

Thank you. I have a problem. The TCP orientation changes when moving from one way point to the other and is in danger of spilling a liquid or smashing glass. How can I make the TCP orientation fixed during transition?

[@UniversalRobotsAcademy]

Hi Hediyeh. If you're using a MoveJ, you can change that to a MoveL - that should solve the orientation issue. If you're using a MoveC, try changing from fixed to unconstrained and see the behaviour.

[@wu4170]

Can this also apply to CB series?

[@UniversalRobotsAcademy]

Hi Wu. Yes it is possible to use the same commands on the CB-series.

[@VeneraVarbanova]

Super useful, thank you!