Universal Robots Forum

How to add a node via external buttons

I’ve got some custom nodes, and I’m wondering how people are able to create nodes with external inputs, such as buttons mounted near the tool flange, and using the Tool IO. Is there a thread that is constantly monitoring the state of the Tool IO or something? Likewise, how would you go about capturing waypoint data with a press of a button instead of using the getRobotMovementCallback()s?

Hi,

Maybe I think that it can be realized by using RTDE.

  1. watching the values of tcp pose and values of tool IO.
  2. set tcp pose into new waypoint node when detecting on of the IO.

Please see my github repositories how to monitor of IOs.