Boolean output for robot movement

[AADPL]

I was wondering if anyone had had any experience in trying to output a digital signal if the robot is moving? For example, if it is moving then digital out 1 would be HIGH, and if it is not moving then digital out 2 would be LOW. The application of this would be for 3D printing, i.e. disabling the extrusion motor if the TCP of the robot isn't moving to stop it from creating a massive blob of clay/molten plastic.

[Johannes @ Robots in Architecture]

Hello,

That's not a problem, should be done in just a few lines of code in the sps.sub - the program that runs cyclically in the background. Something like:

Code Select Expand

IF $VEL_ACT > 0.0 THEN
$OUT[1] = TRUE
ELSE
$OUT[1] = FALSE
ENDIF

Of course I haven't tested it. Consider making a backup before changing important files like the sps.sub. Or run an additional SUB program if your robot supports it!

Best,
Johannes