Controlling a Move between Waypoints with sensor input.

stubrg

Help Please....I am trying to control a Move using an input from a sensor, much like a search. The gripper head must move from point A until sensor input is low, stopping the movement. Can I do this by using an IF statement that checks sensor input and then moves between two relative waypoints  checking the expression continuously? or is there an easier way?

stubrg

Great thanks

JSchena

With the If statement, you can check the box and make it a Wile statement. With that you wouldn't need to do small jumps or moves to where you are going, have it slowly move in one long move, and the moment the switch is activated the wile statement stops. Then you continue with the program. I am not really sure why you would need another way? Unless there is something making this improbable, or noneffective. Also, if you are doing a search you can always have a variable be made and have the location of the sensor input to be outputted , resulting in the next time it searches. The robot will move to the recorded placement and then continuing the search. Making the progression faster. In all reality if you didn't want to use a Wile statement i'm sure someone on the forum will know more about the subject.

matthewd92

@JSchena is right on the money with that answer!  Best way to do what you want. We generally will place a Boolean variable after the last waypoint inside the if, that if we turn it on the robot knows what it was searching for wasn’t found and can either stop looking or notify the operator. We use this a lot for unattended cells to notify someone that the robot needs attention. 

bcastets

I suppose you want to make an insertion, I propose 2 possibilities to do that:

1/ Use the insertion node of the FT sensor URCAP (Copilot). The spiral option of the insertion node move the TCP around the approach point following a spiral pattern until the force drop to zero. No need to make complicate program, it is ready to use.
Check the section "4.1.4. Insertion node" of the FT300 manual (https://robotiq.com/support/ft-300-force-torque-sensor/downloads-instruction-manual?document=) for more details about the insertion node.

2/ You can create a loop which loop until the force go under a certain value and put in this loop a MoveL with a "relative position" Waypoint. Then the robot TCP will move in line until the force drop.