ForgeRobot generates deployable Universal Robots programs directly from your machine specification — pick-and-place, machine tending, weld assist, and vision-guided pick templates. Every robot program comes with a matching PLC function block for handshake I/O.
Why it's different
"Generates both sides of the robot-PLC handshake — the URScript and the matching IEC 61131-3 function block."
Every robot program exports a FB_RobotHandshake Structured Text block. The PLC FB and the URScript use identical signal names, identical state numbers, identical timeout values. Both sides generated together — no hand-matching.
"Four deployable URScript templates — not frameworks that need rewriting."
Pick-and-place, machine tending, weld assist, vision-guided pick. Each generates complete URScript with waypoints, tool I/O sequences, speed profiles, and error recovery. Load via USB or PolyScope network transfer. Run immediately.
"State machine handshake that actually fails safe — robot holds position on PLC timeout, not on motion complete."
PLCHandshake uses 6 states: Idle(0) → RequestCycle(10) → WaitForRobot(20) → CycleRunning(30) → CycleComplete(40) → Fault(50). PLC watchdog at 2000ms. If PLC goes silent, robot stops at next waypoint. Not at end of motion.
Name the program, select the template (pick-place / machine tending / weld / vision), set the tool type (gripper, vacuum, welding torch), and enter the robot model (UR3e/5e/10e/20).
Define approach, pick, place, home, and tool-change positions with XYZ + RPY coordinates. ForgeRobot calculates the move sequence and validates joint limits for the selected robot model.
Map tool outputs (gripper open/close, vacuum on/off) and inputs (grip confirmed, part present) to robot digital I/O numbers. These same signals appear in the PLC handshake block automatically.
URScript file for the robot, IEC 61131-3 FB_RobotHandshake .ST file for ForgePLC, and a commissioning checklist for ForgeOps. All three generated from the same program definition.
Pick-and-place, machine tending, weld assist, vision-guided pick. Each generates complete deployable URScript.
Every robot program generates a paired FB_RobotHandshake Structured Text block — both sides of the I/O interface, generated together.
Define approach, pick, place, home, and tool-change positions. Preview the motion sequence in the step timeline.
Gripper open/close, vacuum on/off, tool-change sequences — mapped to robot digital I/O and PLC output tags.
Robot programs export the matching PLC handshake block. Open in ForgePLC to complete the full machine program.
Generated URScript is valid, deployable code for UR3e, UR5e, UR10e, and UR20. Load via USB or PolyScope network transfer.
4
Program templates
Pick-place, machine tending, weld assist, vision-guided
6
Handshake states
Idle → Request → Wait → Running → Complete → Fault
2000ms
PLC watchdog
Robot holds at next waypoint on PLC timeout
UR3e–UR20
Supported robots
Universal Robots e-Series and newer
ForgeRobot sits between ForgeOps IO configuration and the physical UR controller, with ForgePLC receiving the handshake block.
ForgeOps
Machine IO configuration and tag definitions
ForgePLC
Existing PLC program for handshake tag alignment
ForgePLC
FB_RobotHandshake Structured Text block
UR Controller
URScript via USB or PolyScope network transfer
Select a template, configure your IO, define waypoints. URScript and PLC handshake block generate together.