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HALRobotics / Beta

HAL Robotics Framework beta release and associated documentation.
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Read Digital Input #134

Closed avifcohen closed 8 months ago

avifcohen commented 8 months ago

Description

Hello, I'm working with Kuka Kr 50, I would like to read a digital input as a condition to set other digital and analog outputs. Since there is no component of reading digital/analog input I would like to know if there is any recommendation or solution to solve it. My intention for workflow is Read Digital Input 1 - (wait till true) than Set Digital Output 2, Set Analog Output 2. Thank you Avi.

tristangobin commented 8 months ago

Wait signal action

You can use the Wait component with waiting signal option (the third one).

image We will add shortly some documentation on the wait signal component, missing at the moment.

Custom action

You can use a custom action and directly code it and add it into your procedure.

WAIT FOR $IN[10]==TRUE

Where IN[10] is your digital input index 10.

Related doc (set signal and custom action)

Please see our documentation about custom action here.

Please also check our documentation on how to change signals state here.

avifcohen commented 8 months ago

Thank you!

tristangobin commented 8 months ago

Glad it helped! I close this issue but feel free to open it if necessary.

avifcohen commented 8 months ago

Hi tristan, The component wait of my HAL version not include Wait signal only time and sync. my version is 1.5.4 is there is something I missing? thank you

tristangobin commented 8 months ago

Ah. sorry, we did not release this yet (it was in my debug session). In that case, I suggest you use the custom action instead.