rise/fall time

jensss 2020-05-26

dear

I'm programming an UR5. To be able to make the program I have to work with rise/fall time.

But I can't reach it.

How can I work with rise/fall time?

thank you very much

matthewd92 2020-05-26

What do you mean by rise/fall time? Do you mean of the inputs/outputs?

jensss 2020-05-26

By the sensors

so that the cobot only looks at an emerging signal or a declining signal.

do you understand what I mean?

matthewd92 2020-05-26

In the code all you need to do is wait for either a signal to go high (rising edge) or go low(falling edge). You can do this within Polyscope using the wait command or in script using a while loop. With the whole loop you would loop while the negative condition was true so if I want to catch the rising edge of an input I could do this:

while not get_standard_digital_in(0):
  sync()
end

That would keep syncing so long as the digital input 0 were low, as soon as it rose it would exit the while loop and execute the next command.

Is this what you are looking for?