TS2-40 Cube area

    Good morning everyone, I have a Scara TS2-40 and I need to raise a signal when I pass over an inspection camera so that it can take a photo of the object being taken. How could I implement this function? My idea was to create a frame above the camera and then with the here() function calculate the position of the tool with respect to this frame. Do you have other ideas for realizing this function? Is there any function you can pass me on for example that creates a cube? Is there anything ready-made in the robot's functionality?

    A greeting.

  • HawkME December 1, 2023 at 5:23 PM

    Approved the thread.

    Hello Samu,

    Your way is the best one. Val3 don't special function for that. You can control every tool in every frame.

    I seem to remember that you have an example on the Stäubli Webside (Cube or spherical).

    To be sure that your control will be effective every time (even in manual mode), create a Task at the beginning of the Start(). In this case, only one prerequisites : You application need to be running.

    Have a nice day...

    Quote from samu1995

    Good morning everyone, I have a Scara TS2-40 and I need to raise a signal when I pass over an inspection camera so that it can take a photo of the object being taken. How could I implement this function? My idea was to create a frame above the camera and then with the here() function calculate the position of the tool with respect to this frame. Do you have other ideas for realizing this function? Is there any function you can pass me on for example that creates a cube? Is there anything ready-made in the robot's functionality?

    A greeting.

    samu1995 Search Staubli technical database for below example:

    "Monitoring the robot position in regards to an area"

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