10-19-2021, 09:00 AM
Hi,
RoboDK team
We have created a simple program to move between two points in the UR simulator.
When I imported it into RoboDK, I got the attached error.
The script file contains the following contents.
============
def test():
set_gravity([0.0, 0.0, 9.82])
set_tool_communication(False, 115200, 0, 1, 1.5, 3.5)
set_tool_output_mode(0)
set_tool_digital_output_mode(0, 1)
set_tool_digital_output_mode(1, 1)
set_tool_voltage(0)
set_standard_analog_input_domain(0, 1)
set_standard_analog_input_domain(1, 1)
set_tool_analog_input_domain(0, 1)
set_tool_analog_input_domain(1, 1)
set_analog_outputdomain(0, 0)
set_analog_outputdomain(1, 0)
set_input_actions_to_default()
set_tcp(p[0.0,0.0,0.0,0.0,0.0,0.0])
step_count_5da776d0_589c_44d5_b4ba_bea618676232 = 0.0
thread Step_Counter_Thread_71731e0d_ea82_4223_8bec_d743c846fe47():
while (True):
step_count_5da776d0_589c_44d5_b4ba_bea618676232 = step_count_5da776d0_589c_44d5_b4ba_bea618676232 + 1.0
sync()
end
end
run Step_Counter_Thread_71731e0d_ea82_4223_8bec_d743c846fe47()
set_target_payload(10.000000, [0.000000, 0.000000, 0.100000], [0.071450, 0.071450, 0.071450, 0.000000, 0.000000, 0.000000])
set_safety_mode_transition_hardness(1)
global Waypoint_1_p=p[-.189631536923, -.609683881651, .260971148694, -.001221359682, 3.116276528482, .038891915637]
global Waypoint_1_q=[-1.6006999999999998, -1.7271, -2.2029999999999994, -0.8079999999999998, 1.5951, -0.030999999999999694]
global Waypoint_2_p=p[-.115889203599, -.609683881608, .260971148693, -.001221359682, 3.116276528480, .038891915640]
global Waypoint_2_q=[-1.479524814060909, -1.7004887283586072, -2.2363309091562567, -0.798154264675464, 1.5980294373670005, 0.09018009372375337]
while (True):
$ 1 "Robot Program"
$ 2 "MoveJ"
$ 3 "Waypoint_1" "breakAfter"
movej(get_inverse_kin(Waypoint_1_p, qnear=Waypoint_1_q), a=1.3962634015954636, v=1.0471975511965976)
$ 4 "Waypoint_2" "breakAfter"
movej(get_inverse_kin(Waypoint_2_p, qnear=Waypoint_2_q), a=1.3962634015954636, v=1.0471975511965976)
end
end
=====================
Please tell me the cause.
Best Regards,
Keisuke Sakai
RoboDK team
We have created a simple program to move between two points in the UR simulator.
When I imported it into RoboDK, I got the attached error.
The script file contains the following contents.
============
def test():
set_gravity([0.0, 0.0, 9.82])
set_tool_communication(False, 115200, 0, 1, 1.5, 3.5)
set_tool_output_mode(0)
set_tool_digital_output_mode(0, 1)
set_tool_digital_output_mode(1, 1)
set_tool_voltage(0)
set_standard_analog_input_domain(0, 1)
set_standard_analog_input_domain(1, 1)
set_tool_analog_input_domain(0, 1)
set_tool_analog_input_domain(1, 1)
set_analog_outputdomain(0, 0)
set_analog_outputdomain(1, 0)
set_input_actions_to_default()
set_tcp(p[0.0,0.0,0.0,0.0,0.0,0.0])
step_count_5da776d0_589c_44d5_b4ba_bea618676232 = 0.0
thread Step_Counter_Thread_71731e0d_ea82_4223_8bec_d743c846fe47():
while (True):
step_count_5da776d0_589c_44d5_b4ba_bea618676232 = step_count_5da776d0_589c_44d5_b4ba_bea618676232 + 1.0
sync()
end
end
run Step_Counter_Thread_71731e0d_ea82_4223_8bec_d743c846fe47()
set_target_payload(10.000000, [0.000000, 0.000000, 0.100000], [0.071450, 0.071450, 0.071450, 0.000000, 0.000000, 0.000000])
set_safety_mode_transition_hardness(1)
global Waypoint_1_p=p[-.189631536923, -.609683881651, .260971148694, -.001221359682, 3.116276528482, .038891915637]
global Waypoint_1_q=[-1.6006999999999998, -1.7271, -2.2029999999999994, -0.8079999999999998, 1.5951, -0.030999999999999694]
global Waypoint_2_p=p[-.115889203599, -.609683881608, .260971148693, -.001221359682, 3.116276528480, .038891915640]
global Waypoint_2_q=[-1.479524814060909, -1.7004887283586072, -2.2363309091562567, -0.798154264675464, 1.5980294373670005, 0.09018009372375337]
while (True):
$ 1 "Robot Program"
$ 2 "MoveJ"
$ 3 "Waypoint_1" "breakAfter"
movej(get_inverse_kin(Waypoint_1_p, qnear=Waypoint_1_q), a=1.3962634015954636, v=1.0471975511965976)
$ 4 "Waypoint_2" "breakAfter"
movej(get_inverse_kin(Waypoint_2_p, qnear=Waypoint_2_q), a=1.3962634015954636, v=1.0471975511965976)
end
end
=====================
Please tell me the cause.
Best Regards,
Keisuke Sakai