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• move the sensor parallel to the slope
• get many sensor data and average the result
• change the sensor config (interval: 200, threshold: 1)
• estimate the slope angle with the distance and position

Factor in beam diameter

φ120μm at 100mm distance

Edge detection path

Line

From outside to inside

Arc

From inside to outside

• as the sensor moves, get many sensor data and average the result
• change the sensor config (interval: 200, threshold: 1)

Bug found at 22nd demo

Feedrate and line number data from MTConnect are inconsistent with the coordinate data.

The temporary solutions:

• Ignore the feedrate from MTConnect and use the command feedrate instead
• Double-check the line number

MTConnect and sensor data near the end process are missing data

Reason

Since the line is a little ahead of the coordinate data, the MTConnect reader and sensor stops too early.
Node-red watches the line and sends a signal to stop, so this need some delay or check before it sends the stop signal.