Universal Robots Forum

Cancel motion on condition and start another motion

Hi Comunity,
is there a possablity to cancel the current executed motion if a condition (like a input read or an global condition variable) becomes true and start execute another motion instead?

All this should to written in URScript Code .
Thanks for your help

Jan

Take a look at the Until Function of Waypoint nodes:

The robot moves to Waypoint 2 until the DI0 is set to High, making it stop on this condition and move to Waypoint 3.
Now check out the generated script:

2 Likes

Thank you very much,
i was not aware of the until function since we use only ur-cb series with an older software version. But this is good news for us