Direction move until TCP Z Value reached

Technical Questions
1

Hello. I am trying to incorporate a direction move where my ur10e will move in the Z+ direction (Base Feature) until the TCP reaches a certain Z value. How can I do this?

2

Note-- I am doing this in a Before Start sequence. I tried a get_actual_tcp script command in a thread, but this resulted in an error, I assume due to the Z value not being obtained in the Before Start.

3

I usually do like this. :slight_smile:

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I presume you don’t mind using a waypoint instead of a Direction.

5

That’s great. Thank you

6

Just an interesting bit of information, threads don’t actually run in the Before Start sequence! I’m not sure why exactly, but I’ve been screwed over in the past by that behavior too.