Home› Programming

Discussion

Left ArrowBack to discussions page
jensssjensss Posts: 23 Apprentice
in Programming
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
· TwitterFacebook

Comments

  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,261 Handy
    What do you mean by rise/fall time?  Do you mean of the inputs/outputs?
    · TwitterFacebook
  • 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?


    · TwitterFacebook
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,261 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?
    · TwitterFacebook
Sign In or Register to comment.
Left ArrowBack to discussions page