Sensors

1. Overview

This controller allows reading most of the Robot's sensors.

UR Robots have two types of sensors, according to the kind of data they output:

• Continuous sensors: Read variable is a continuous decimal value.
• Boolean sensors: Read variable is a binary state.

2. List of Sensors

Continuous sensors:

Boolean Sensors:

3. Sensors Arrangement

Sensors are arranged around the robot body:

4. Using the Controller

Creating the controller in your app:

from raya.application_base import RayaApplicationBase

class RayaApplication(RayaApplicationBase):
    async def setup(self):
        ...
        self.sensors = await self.enable_controller('sensors')
        ...

The controller class includes a set of methods to synchronously access the sensors:

• get_all_sensors_value()
• get_sensor_value()
• check_sensor_in_range()

It also includes the following methods to create listeners that trigger when different events are detected:

• create_threshold_listener()
• create_boolean_listener()
• delete_listener()

Each method page includes standalone examples of how to use them.

5. Full examples

The following full examples use this controller:

• Sync Sensors Example
• Listener Sensors Example