Posts by Andreas.S

How should the robot know which joint should have which speed? So you need to use a list of six values (one for each joint) like [1,0,0,0,0,1]. That means movement in Base and wrist 3.

best regards
Andreas

Normaly it's quit easy to build your own timer inside of a thread with a loop, an assignment and a wait command.

Hi Speedy,

may this article on the UR Supportside is helpfull for you:

http://www.universal-robots.co…der-from-a-program-15293/

You can set the speed slider on the bottom via a script command. So if you program a monitoring of your input inside of a thread, you can send a script command to your on client interface via a socket communication.

Best regards
Andreas

Hi poloStip,

connect to one of the client interfaces on port 30001, 30002 or 30003 and send the script command "set_digital_out(n,value)" where n is the output number and value is True or False.
(Please note, that you have to write True or False with a big letter first!)

best regards
Andreas

Hi fennex,

there are two script fuctions in UR Script available that might could help you:

pose_dist(WP1,WP2) gives you the distance between WP1 and WP2 in meter including the change of the orientation

point_dist(WP1,WP2) gives you the distance between WP! and WP2 in meter only the translational motion

If you have mor waypoint you have to add the return values and may you find a recalculation due to the blends.

Best regards
Andreas

It depends on what you would like to do!
On UR Robots have running a SFTP Server, so you can make a file transfer.
You have client interfaces on port 30001, 30002 and 30003 where you can send script comands like movel(p[0.3,0.2,0.3,0,3.14,0]) to the robot or complete scriptfunctions as well. You can use the dashboardserver on port 29999 where you can send assci commands to the robot to do all the stuff, that you normally do with your finger on the TP like loading a program, play, stop, close a popup.... And at least you can create a socket communication on your own defined port.
You should check the support chapter on the universal robots website. You will find a lot of informations about all the stuff.

regards
Andreas

UR had launched the URCaps into UR+ last week at the Automatica. With SW 3.3 there is the possibility to install third party software to the robot. There are different companies that using this possibility right now. Robotique, OnRobot and Weiss. Theese three companies can provide you a gripper what can be implementet into the UR-HMI by an easy plug and play. Just check the UR Site ond choose UR+ in the upper right corner.

regards
Andreas

You have to teach your own feature in the installation tab first. Than program your movements as a movel or movep and choose the feature inside of the move node.
After you have replaced your robot to another loacation you teach another feature. Enter a prestart sequence and make an assignment with

feature_old = feature_new

All your movments will than be relative to your new feature instead of the old feature.

regards
Andreas