Turning on variable that tracks position with tolerance

[mhasan]

Hi

How to turn on a variable upon position reached with ±2mm tolerance. If someone jogs the robot, the variable should be off.

Robot= UR10e
UR SW=5.21.3

Thanks in advance.

[efn]

You can’t change variable values (ro any other signals for that matter) while the robot program isn’t running.

You can, however, check the robot position and measure the distance with a script function within your program as seen here:

[mhasan]

Thanks. I will check pose_dist function.