handBackControl

Get the control back from the External Control program node in the UR program tree

Since R2023a

Syntax

status=handBackControl(ur)

Description

status=handBackControl(ur) executes the hand_back_control ROS service, which takes back the program control from the External Control program node of the UR program tree to execute the subsequent program nodes. status returns 1 if the service is executed correctly.

Examples

Execute hand_back_control ROS Service

Connect to ROS at IP address 192.168.2.112.

ur = universalrobot('192.168.2.112');

Run the handBackControl function command to get the control back from an External Control program node.

handBackControl(ur);

Input Arguments

ur — Connection to Universal Robots cobot

object

Connection to physical or simulated cobot from Universal Robots, specified as a universalrobot object.

Output Arguments

status — Status of hand_back_control ROS service

1 | 0

Status of hand_back_control ROS service, returned as 1 or 0 depending on whether the service is executed successfully or not.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2023a