Touch Example DR

HMI Panel File

4MB

touch_hmi.hmi

Script File

from DRCF import *

# HMI variables
task_running = False
display_status = ""

# HMI functions
def start_task():
    global task_running, display_status
    task_running = True

    while task_running:
        movel(posx(40.1, -294.5, 400, 0, 178.1, 0), v=200, a=200)
        display_status = ""
        amovel(posx(40.1, -294.5, 100, 0, 178.1, 0), v=200, a=200)
        while check_motion() != DR_STATE_IDLE:
            if abs(get_tool_force()[DR_AXIS_Z]) > 8:
                stop(DR_QSTOP)
                display_status = "TOUCH DETECTED!"
                break
            wait(0.1)

    display_status = ""
    movel(posx(40.1, -294.5, 400, 0, 178.1, 0), v=200, a=200)