Manipulate the Modbus IO into the program structure and create a offset plane

Manmur

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 

bcastets

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):

https://www.youtube.com/watch?v=qHOmyKoCCPs

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

Manmur

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

Manmur

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.

bcastets

Maybe you could share your program so that people can advise ?

Manmur

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.

Manmur

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.

bcastets

It may be working but maybe the modbus variable is at False.
Maybe you can add a else condition to make trouble shooting.