[robo.senn]

Greetings,

I started playing with the Python API today. It's great! I was curious how to get the RDK.RunMessage() function correctly with our UR5 teach pendant.

Is this a matter of creating a definition in the UR post processor? It also looks like the UR Script API has a function called popup() which writes a message to the teach pendant. I am just to write a simple 'Hello World' message for right now.

Any insight would be a great help. Below is the simple python code I've been experimenting with so far.

Thanks!


from robolink import * # RoboDK API

from robodk import * # Robot toolbox
RDK = Robolink()

RDK.RunMessage('Hello world', message_is_comment = True) #Writes to teach pendant

robot = RDK.Item('UR5')

home = RDK.Item('Home')
approach = RDK.Item('Approach')
target3 = RDK.Item('Target 3')
target4 = RDK.Item('Target 4')
target5 = RDK.Item('Target 5')

我= 0
while (i < 5):
robot.MoveJ(home)
robot.MoveJ(approach)
robot.MoveL(target3)
robot.MoveL(target4)
robot.MoveL(target5)
robot.MoveL(approach)

i = i + 1

RDK.RunCode('Prog2', True)

[Albert]

You can do the following:
robot.RunInstruction("Your popup message (pause execution)", INSTRUCTION_SHOW_MESSAGE)

More information here:
//www.sinclairbody.com/doc/en/PythonAPI/robo...nstruction

the robot variable can also be a program generated using AddProgram.

So you can do things like:
program.RunInstruction('Setting the spindle speed', INSTRUCTION_COMMENT)
program.RunInstruction('SetRPM(25000)', INSTRUCTION_INSERT_CODE)
program.RunInstruction('Done setting the spindle speed. Ready to start!', INSTRUCTION_SHOW_MESSAGE)
program.RunInstruction('Program1', INSTRUCTION_CALL_PROGRAM)

Make sure to update RoboDK as this has been improved recently:
//www.sinclairbody.com/download

[robo.senn]

Thank you for the response, Albert. For whatever reason, I keep getting this error when I attempt any RunInstruction() functions:

Traceback (most recent call last):
File "E:/Prog5.py", line 12, in
robot.RunInstruction("Your popup message (pause execution)", INSTRUCTION_SHOW_MESSAGE)
AttributeError: 'Item' object has no attribute 'RunInstruction'

Eventually I would to write RobotIQ gripper calls to the generated code, but I am not having luck with these basic calls. Any help would be appreciated.

from robolink import * # RoboDK API

from robodk import * # Robot toolbox
RDK = Robolink()

robot = RDK.Item('UR5')

robot.RunInstruction("Your popup message (pause execution)", INSTRUCTION_SHOW_MESSAGE)
robot.RunInstruction('Setting', INSTRUCTION_COMMENT)

[Albert]

I'm sorry this created confusion. If you installed RoboDK a few weeks ago this function was called:
robot.RunCodeCustom('Code or function', instruction_type)

The latest version of RoboDK keeps both versions (RunCodeCustom and RunInstruction) for backwards compatibility.