Abort movel() by reading digital input


movel() should check a digital input continuously and stop if it becomes active

What is it?

A possibility to create the possibility to adapt robot moves to situation changes in a fully controlled manner.

Why is it needed?

Some moves take a long time and it’s beneficial to the end user to either abort the move or change the trajectory. By having movel() monitor a given digital input, this additional functionality could easily be created, which is now impossible, since movel() is blocking

The alternative is to chop up a large movel() into a number of smaller ones, but this requires a lot of start/stop accelerations of the robot and there’s no longer a smooth moving path. This also leads to lots of wear on the gears of the robot requiring expensive servicing.

Some questions, involving mainly transparency of the proces:

Is anyone from UR monitoring the wish list?
What is the procedure?
Which items are under consideration?
Were can we follow progress on these topics?
Who should we contact regarding these things?
Has anyone ever received any feedback on a post in this category?

Some publicly available watchlist, showing wish list item status, would be preferable.