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+--- Thread: URP file generated in RoboDK to UR5 (/Thread-URP-file-generated-in-RoboDK-to-UR5)
URP file generated in RoboDK to UR5-DorisBoris-05-19-2020
Hey,
I'd like to ask tips for transferring URP- file from RoboDK to Universal Robot UR5.
Controller is CB3.
I've made a program with RoboDK GUI, generated robot program with Universal Robots URP - post processor and transferred it to UR5 teach pendant via USB-stick.
Program: ShortTest
Reference frame in space: Frame 2
2 joint moves with 2 targets.
Program performs well when driven directly with RoboDK via ethernet and also when using regular post processor, script file via USB- stick.
When using URP-file created by RoboDK, following error appears, when trying to run robot:
If I suppress or delete the script lines, leaving only Move-commands the program will perform fine.
Would you have any ideas what could be wrong with my procedure?
Short1Test.txt(Size: 2.92 KB / Downloads: 328)
Short1T.urp(Size: 1.02 KB / Downloads: 320)RE: URP file generated in RoboDK to UR5-DorisBoris-05-26-2020
Maby found the error with my process.
Script- post processor outputs joint-move command with 4 parameters after joint coordinates including single 0.
URP-post processor outputs only 3 parameters.
Got it working by adding the 0 on post processor.
Also other differences on processing joint- and linear moves with URP- post processor eg. line writing and speed/acceleration setups.
RE: URP file generated in RoboDK to UR5-Albert-05-27-2020
Thank you for your feedback. You are right. There was a 0 missing in the MoveJ script command.
We've fixed it with the latest version of the post processor for Universal Robots (attached). There's also a flag to disable generating a script command for MoveJ.