Touchprobe MEASURE

A touchprobe MEASURE consists of 2 parts:

  • The touchprobe command is parameterized in the REG part. Here, among other things, the source (touchprobe is to be triggered on the edge of an inverter touchprobe or a BOOL variable), the mode and the measuring direction are specified. INFORMATION: When the inverter touchprobe is used, it is necessary to connect the sensor to all real axes below the robot (except axes of a MultiAxisController). For further information on parameterizing the touchprobe command, refer to chapter Touchprobe.
  • The MEASURE part specifies in which POSE variable the measured position should be entered after the touchprobe sensor or the triggering BOOL variable is triggered.

Note the following boundary conditions for the application example:

  • A touchprobe event is active until it is triggered (in single mode) or until it is deactivated. With Measuring, the DEREG_TP_EVENT command can be used for deactivation.
  • The commands for activating and deactivating a touchprobe (REG and DEREG) are carried out immediately as soon as the ProgramPointer "P" interprets the command. The example uses a PathEvent to make sure this does not happen too soon.

The following application example shows the use of a touchprobe MEASURE that should be active when the movement to "LIN Pose_Segment1" is carried out. Since the touchprobe MEASURE should be active for the first path segment, activation via a PathEvent is not necessary.

  1. In lines 40 and 50, the touchprobe is parameterized so that an edge of the inverter touchprobe should trigger a measurement. The measured position is written to the POSE variable MEASURED_Pose.
  2. In line 60, a PathEvent is inserted, which is triggered at the end of the movement to "LIN Pose_Segment1" and deactivates the touchprobe as an action (line 70).