So i just saw a video that got me thinking. A UR held a piece of a motor for the human operator, and i would presume that it will not move unless the detail is removed. Is there a way to use the Wait command with the payload, for example when payload drops to under 2kg continue with the program...?
I tried to find a way with the "force" input but with no luck (or i did it wrong).
This should probably be a very useful function for using the cobot as a cobot...
Thank you!
Wait for unload
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Aagrald -
April 3, 2018 at 11:41 AM -
Thread is Unresolved
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Yes, rather simple. It's not a wait, it's an IF, more or less with a continuous check.
Var_1 := Force ()
If Var_1 >= VALUE then
WAIT 0.1
Var_1 := Force ()More or less this would get you what you need. I don't have a working cobot at my disposal to check exactly.
I'm using something of the sort to feel for the height of a stack.
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Awsome ClaudiuA!
I´m going to try it tomorrow!
I´ll get back to you if i failThanks!
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Remember to check the "Check continuously" box, or whatever it's called, for the IF statement.
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It worked great! But do i need both the "Var_1:= Force()"?
I could have just tried to remove one but i figured you would know why -
You could just use IF FORCE () >= Value and it'd be the same thing really.
I tend to write explicit stuff. If I check back in one or two years, even if it looks idiotic, at least I can easily remember what I wanted with my code. -
Haha great!
I´m somewhat new to code and have mostly been using Siemens PLC logic and just started a Python course.
It seems very useful so i will try to learn more languages!Thank you very much for your help!
I´ll be back soon i believe