Sync RRI with external device

Robot Controller
1

Hi all,
I’m working with the RRI module to capture TCP position along an exploration trajectory. I am able to successfully receive the XML packages with the requested information in my PC. Now I need some way to synchronize the RRI packages with an external sensor, to assure that the TCP position received and the information of the sensor were taken at the same time (~1ms difference).

Anyone has any idea about how to do this syncronization?

Thanks in advance

2

Moved to RobotWare forum.

3

Hi again,
looking at the absence of answers I think that maybe my first post was not clear enough…

What I need is to activate a camera while knowing the exact position of the TCP when the image was taken.

Regards,
Jorge