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● When the robotic arm reaches the specified position (the area of the sphere
specified with the trigger position point (X, Y, Z) as the center (the radius of the
sphere is the tolerance radius)), IO is triggered. This command can be used to
trigger IO at a specific location.
X, Y, Z represent the coordinate value of the specified position to be reached by the
robot arm, with the unit of mm.
The digital IO is triggered as soon as the system detects that the TCP position enters a
spherical area centered at (X,Y,Z) with the specified radius. If the tolerance radius is
not set, when the robotic arm passes the specified point at a speed other than 0, it may
miss the trigger because it cannot be accurately detected.
【when digital I/O is (High/Low) do 】
● Executes the commands contained in this code block when the condition is met.
【 when the analog IO value satisfies the set condition do】
● When the monitored analog IO value meets the condition, the commands contained
in the code block will be executed, and the condition are =, ≠, >, ≥, <, ≤.
IO trigger logic of xArm Studio:
1. xArm Studio obtains the IO state every 100ms, and uses the IO state value obtained
for the first time as the initial value.
2. Compare the IO state obtained the second time with the IO state obtained last time.
If the IO state changes, a callback meeting the condition is triggered.
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