Hello, who can explain how to load the script files in UR simulator? Thanks
Load script files in UR simulator
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mvp -
January 15, 2016 at 2:00 PM -
Thread is Unresolved
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Do you mean transferring a script file from your PC to the robot/simulator file system, or bringing the script file into your robot program once it's there?
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from my PC to the robot/simulator
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Ok, I have URSim 1.8 where it is imposiible.
and URSim3.2 I think supports loading scripts -
Maybe someone knows,
this is my script:set_tcp(p[0,-0,0,0.559,0,0])
movej([-0.166744184,-0.966358560,2.299026545,2.836166684,-1.435,-2.921891183],a=0.157,v=1.5,r=0.02)
movel(p[-0.471010365,-0.042851877,0.037000000,2.31990,-2.11842,0.00000],a=0.1,v=0.167,r=0.002)how to set frame (custom) coordinate system (for workpiece)?
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The transfer from PC to VM is most likely a settings issue. Usually you can simply copy a file from your PC onto the simulator like any other file.
As far as referencing different features when scripting, if you can define the feature plane as a "pose" with respect to the base-frame then you can move w.r.t that plane using the pose_trans script function.
e.gCodefeature_wrt_base = p[0.3,0.3,0.3,3.14,0,0] " where is your feature with respect to the base pose_wrt_feature = p[0.1,0.1,0,0,0,1.57] " where is the point with respect to your custom feature/frame pose_wrt_base = pose_trans(feature_wrt_base, pose_wrt_feature) " returns pose with respect to base-frame movel(pose_wrt_base) " script line
Hope this helps. Good luck!