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

Since R2023a


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.


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Connect to ROS at IP address

ur = universalrobot('');

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


Input Arguments

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

Output Arguments

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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