Turn tool flange until a signal is changing state
One example of how to make a program that rotates the tool flange until a signal changes.
Examples are valid for:
CB2 Software version: 1.8.16941
CB3 Software version: 3.1.17779
e-Series Software version: All versions
Note that older or newer software versions may behave differently.
These examples can be used for both CB2, B3 and e-Series.
This example shows how to rotate the tool flange until a signal changes.
First get_actual_joint_position(using variable) and then calculate pose(using script) .
Second set up an If Expression, remember to “Check expression continuously”. The waypoint in the If-statment is an Variable waypoint.
If this expression is true then it will do Else task
This function can be used in turning a screw or other rotation tasks.
Download Polyscope file below
