Touchprobe
INFORMATION
The MOVIKIT® Robotics add-on Touchprobe license is required to use the function.
A touchprobe event is triggered either by the triggering of a sensor or the change of state of a BOOLEAN variable.
When the touchprobe event is triggered, the current axis positions are read and are used for position measurement or sensor-based positioning. The touchprobe function of MOVIKIT® Robotics differs from the touchprobe function of the individual axes by the transformation of position values of the individual axes into a Cartesian touchprobe position and mapping them to the path of the robot.
Application cases for the touchprobe function are, for example, palletizing or depalletizing with variable or unknown height of the parts or the sensor-based execution of actions.
The actions that can be executed during a touchprobe event can be divided into those that trigger a movement (POSITIONING) and those that do not trigger a movement (MEASURE, SET_BOOLVAR, and CALL_FUNCTION).
Any number of touchprobe events can be used in an SRL program, but only one event at a time. To activate a new event, the previous event must be deactivated, otherwise an error is triggered.
To use the touchprobe function, you have to activate it in the configuration menu Additional functions of the software module.
For further information on parameterizing the SRL commands in the RobotMonitor, refer to chapter Touchprobe.
