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stubrg
Posts: 7 Apprentice
Controlling a Move between Waypoints with sensor input. |
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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?
Robotic Technician
Tonnard Mfg.
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.