Hello,

I am new to programming so, If someone can help me by giving an example of how I can program the robot to offset the current path based on the input received from the sensor. So the robot understands every time the sensor is triggered it knows that it needs to offset the current path to avoid the collision. Thank you in advance. 

You could do that using move node and a feature point.
This way you can have all you points relative to the feature point. If you want to offset the move you just have to offset the feature point and everything will follow relatively to it.




I would recommend that you check the section "15.5 Basic program nodes>15.5.1 Move" in UR Software manual.

Are you referring to offsetting the path during move execution or prior to a move being executed?

Thanks for your reply @matthewd92, I would like to offset the current path only when the sensor from the Modbus is triggered in order to prevent the collision. 

Maybe be you could change the TCP when you get the signal from the sensor ?

@bcastets  yes I thought about this but I was not able to include the new TCP into the program if it is possible please give me a short example. Thank you.

I figured out a way to do this. I simply created another path by changing the z-axis. So whenever the signal is triggered it automatically changes the path.