Load script files in UR simulator

    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?



    Sent from my iPhone using Tapatalk

    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)?

    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.g

    Code
    feature_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!

Advertising from our partners