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ManmurManmur Posts: 9 Apprentice
I would like to get the signal from the distance sensor through the Modbus and add this into the program which can steer the robot by offsetting the robot according to the surface plane 

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  • bcastetsbcastets Posts: 111Vacuum Beta tester Handy
    You should be able to do that without problem.
    With UR you can program relative to a point and you can offset the point with the information you get from the distance sensor.

    By the way do you now that we have recently released a function could "Contact offset" which can relate and object by touch it and replace all waypoints accordingly ?

    You can see an example in the following video (check from 0:23):



    We have also possibility to locate a visual reference and relocate waypoint accordingly. 
    https://robotiq.com/products/wrist-camera

  • ManmurManmur Posts: 9 Apprentice
    Thank you for your reply. 

    I am able to use the Modbus signal in my program but while running the program the Modbus signal is just skipped so the program runs without considering the signals from the Modbus
  • ManmurManmur Posts: 9 Apprentice
    Or maybe I am missing out some functions while programing the signals from the Modbus. Could you please give me an example function for usings Modbus signals in the program. Thank you.

  • bcastetsbcastets Posts: 111Vacuum Beta tester Handy
    Maybe you could share your program so that people can advise ?
  • ManmurManmur Posts: 9 Apprentice
    This is just a sample program to test if I can make the Modbus signal work in the program but as you can see it just gets skipped.
  • ManmurManmur Posts: 9 Apprentice
    edited October 29
    This is just a sample program to test if I can make the Modbus signal work in the program but as you can see it just gets skipped.



  • bcastetsbcastets Posts: 111Vacuum Beta tester Handy
    edited November 8
    It may be working but maybe the modbus variable is at False.
    Maybe you can add a else condition to make trouble shooting.
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