Triggering and measuring
After triggering a touchprobe event, the positions are read, transformed, and projected onto the path. The determined Cartesian actual position is projected perpendicular to the MeasuringDirection onto the path of the robot. When using the "MEASURE" instruction, the projection point is output in the pose variable set there.
If the path segment into which is to be projected has no motion component in MeasuringDirection, an error is output. This is the case for example, if the MeasuringDirection is set to "z" but the robot moves along a straight line in x-y direction. If projection onto the current path segment is not spatially possible, an attempt is made to project the point onto one of the adjacent segments.
Path point | Description |
|---|---|
P1 .. P4 | Path points along the course of the path |
Reg TP Event | Instruction for activating the touchprobe |
TP event | Triggering the sensor or switching the BOOLEAN variable |
PTP,Increments | Actual position or touchprobe position of the inverters |
Pmeasured | Measuring point projected onto the path |
In the figures, the touchprobe is shown vertically in z-direction in "Single" mode with MeasuringDirection. The green area represents the segments in which the touchprobe function is activated. After triggering of the triggers, the measured point (PTP,Increments) is projected onto the path (Pmeasured). The movement of the robot itself is not affected.
Path point | Description |
|---|---|
P1 .. P3 | Path points along the course of the path |
Reg TP Event | Instruction for activating the touchprobe |
Dereg TP Event | Instruction for deactivating the touchprobe |
TP event | Triggering the sensor or switching the BOOLEAN variable |
PTP,Increments | Actual position or touchprobe position of the inverters |
Pmeasured | Measuring point projected onto the path |
In "Multiple" mode, the touchprobe function remains active after a trigger is triggered (MeasuringDirection is in z-direction). If another trigger is triggered, the newly measured point is also projected onto the path, and Pmeasured is overwritten. The event is active (green area) until a "DEREG Touchprobe_EVENT" instruction is interpreted, the program ends or is stopped.
Path point | Description |
|---|---|
P1 .. P3 | Path points along the course of the path |
Reg TP Event | Instruction for activating the touchprobe |
TP event | Triggering the sensor or switching the BOOLEAN variable |
PTP,Increments | Actual position or touchprobe position of the inverters |
Pmeasured | Measuring point projected on path |
If the touchprobe sensor is triggered within a blending curve, the point is projected onto the path that was interpolated without blending (figure: MeasuringDirection z-direction, "Single" mode).
