Gripper Measurement

Technical Questions URScript
1

Hi,
I’m in my first project with UR and I did stuck with scripts. :slight_smile:
I’m measuring a parallel gripper clearence between fingers with analog laser sensor and what im trying to do is, when i set and close the gripper i will measure the distance for every 0,1sec and if its stable for example 5 times with 10mm accuracy will go on the program.
Gripper_Analog = (1000 * get_analog_in(0) * 19.266) + 79.68
thats the function that converts analog signal to mm.

any suggestions?

What i did so far

def Gripper_Olcum():
parca_genislik=268
    stable_count = 0  # İstikrarlı sayacı başlangıç değeri
    measurement_interval = 0.5  # Ölçüm aralığı, 0.1 saniye

    while stable_count<=5:
        Gripper_Analog = (1000 * get_analog_in(0) * 19.266) + 79.68
textmsg("Olcum ", Gripper_Analog)
        if -10 < (parca_genislik - Gripper_Analog) and   (parca_genislik - Gripper_Analog) < 10:
            stable_count = +1  # Fark 10 birimi geçtiğinde sayacı artır
textmsg("Stable ", stable_count)
        else:
            stable_count = 0  # Fark 10 birimden azsa sayacı sıfırla
        
        sleep(measurement_interval)  # 0.5 saniye bekle


end
end
stable_count=0
end
2

was using for Pally and solved it after some hours

def Gripper_Olcum():
local parca_olculer=palletmanager_daemon.get_product_dimensions(InstanceId)
local parca_genislik=parca_olculer[0]
    stable_count = 0  # İstikrarlı sayacı başlangıç değeri
    measurement_interval = 0.2  # Ölçüm aralığı, 0.1 saniye

    while stable_count<=4:
        Gripper_Analog = (1000 * get_analog_in(0) * 19.266) + 79.68
        if -10 < (parca_genislik - Gripper_Analog) and (parca_genislik -Gripper_Analog) < 10:
            stable_count = stable_count+1  # Fark 10 birimi geçtiğinde sayacı artır
        else:
            stable_count = 0  # Fark 10 birimden azsa sayacı sıfırla
end
sleep(measurement_interval)
end
stable_count=0
end