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jensssjensss Posts: 23 Apprentice
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

Comments

  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,250 Handy
    What do you mean by rise/fall time?  Do you mean of the inputs/outputs?
  • jensssjensss Posts: 23 Apprentice
    By the sensors

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

    do you understand what I mean?


  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,250 Handy
    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?
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