i have an input that is used by an operator (via palm switch) to say they are clear of the nest so the cobot can pick up parts. after the cobot picks up the parts and moves to the next operation i need to be able to have the operator load nest and swipe the palm switch and move on. is there a function that will see that the palm switch has been swiped or does the cobot need to be waiting like i currently have.
i am using a UR10e
thanks chris
I would think a thread would work. You using polyscope? Can u post a shot of the program?
Program
Robot Program
Home
Wait LH_Part_Present=HI
Wait RH_Part_Present=HI
Wait Op_Start=HI
Call Load_Assembly
Wait Platen_Home=HI
Call Unload_Conveyor
Unload_Conveyor
MoveL
Aproach_LH
Wait Platen_Home=HI
Above_LH_Asmbl
LH_Assemble
Set Vac_1_ON=On
Wait: 0.3
Above_LH_Asmbl
Abv_RH_Pick
RH_asmbl_pick
Set Vac_2_On=On
Wait: 0.3
Abv_RH_Pick
Aproach_RH
Waypoint_5
Above_Conveyor
Place_On_Convey
Set Vac_1_ON=Off
Set Vac_2_On=Off
Wait: 0.5
Above_Conveyor
Waypoint_2
Home
Load_Assembly
MoveL
Above_LH
Wait Op_Start=HI
Pick_Up_LH
Wait: 0.5
Set Vac_1_ON=On
Wait: 0.3
Set LH_Part_Release=On
Above_LH
Set LH_Part_Release=Off
Above_RH
Wait Op_Start=HI
Pick_Up_RH
Wait: 0.5
Set Vac_2_On=On
Wait: 0.3
Set RH_Part_Release=On
Above_RH
Set RH_Part_Release=Off
Waypoint_1
Waypoint_5
Aproach_LH
Wait Platen_Home=HI
Above_LH_Asmbl
LH_Assemble
Set Vac_1_ON=Off
Wait: 0.3
Above_LH_Asmbl
Above_RH_drop
RH_Assemble
Set Vac_2_On=Off
Wait: 0.1
Above_RH_drop
Aproach_RH
Wait: 0.3
Set Cycle_Assembly=On
Wait Platen_Home≟ False
Set Cycle_Assembly=Off
Wait: 0.3
Wait_Asmbl_Cycl
Wait: 1.0
Wait Platen_Home=HI
yes iam using polyscope
Looks similar to what I do using a thread.
Main program:
Thread:
Doing this will allow the IO to be triggered and wait for the program to get to that point for execution.
I will give that a try thank you for the input