Touchprobe

The "touchprobe" function allows for triggering an instruction during a program by switching a sensor or by changing the state of a BOOLEAN variable. When the event is triggered, the Cartesian actual position of the robot on the track is determined. As an instruction, the measured position can be stored in a POSE variable, the state of a BOOLEAN variable can be changed, a function can be called, or sensor-based positioning can be performed. In sensor-based positioning, the programmed path is continued by a certain length in the specified direction starting from the measured path point. If the remaining distance is greater than the programmed path, the last segment will be extended. The sensor can be connected directly to the MOVI-C^® CONTROLLER (e.g. via a digital input) and cause the status change of a BOOLEAN variable. In this case, the actual positions of the connected drives are used for the measurement. If the requirements on accuracy are very high, the sensor is connected to all inverters belonging to the robot. In this case the touchprobe positions of the inverters will be used for measuring the path point. The measured positions of the drives are transformed into the Cartesian position.

For further information, refer to the chapters Functional description and SRL programming.