Generated robot program- Printable Version +- RoboDK Forum (//www.sinclairbody.com/forum) +-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN) + - - -论坛:通用RoboDK问题(//www.sinclairbody.com/forum/Forum-General-questions-about-RoboDK) +--- Thread: Generated robot program (/Thread-Generated-robot-program) |
Generated robot program-Tomo-07-21-2016 Hi! So I made a simple robot program which goes through 3 points with joint movement. I then generated this program to script code (in my case URscript). Then I created a new pyhton program and copied this generated code, but then I get errors that lines are not defined. This is the simple code and I , am not very skilled with python programming, so is there any example of a working python script with UR5 robot or maybe can somebody repair this code to make it work. def Prog1(): # Program generated by RoboDK 2.2.9 for UR5 serie 3 on 21/07/2016 15:06:56 # Using nominal kinematics. # default parameters: speed_ms = 0.3 speed_rads = 0.75 accel_mss = 3 accel_radss = 1.2 blend_radius_m = 0.001 # set_reference(p[0.000000, -1.000000, 0.000000, 0.000000, 0.000000, 0.000000]) set_tcp(p[0.000000, -0.020000, 0.130000, 0.000000, 0.000000, 0.000000]) movej([-0.964392, -1.597788, -1.488417, -1.592133, 1.568830, 0.518872],accel_radss,speed_rads,0,blend_radius_m) movej([-1.513582, -1.579018, -1.517266, -1.586032, 1.586891, -0.030042],accel_radss,speed_rads,0,blend_radius_m) movej([-1.508372, -1.649491, -1.858695, -1.174046, 1.586735, -0.024833],accel_radss,speed_rads,0,blend_radius_m) end Prog1() RE: Generated robot program-tgrobo-07-21-2016 (07-21-2016, 01:19 PM)Tomo Wrote:Hi! There is not robolink API import. 'end' is not defined in Python. Pay attention to case sensitive Python language. Try this similar example: from robolink import * RL = Robolink() robot = RL.Item('UR5 serie 3') def Prog1(): speed_ms = 0.3 accel_radss = 1.2 RL.setSimulationSpeed(speed_ms) robot.MoveJ([-0.964392, -1.597788, -1.488417, -1.592133, 1.568830, 0.518872],accel_radss) robot.MoveJ([-1.513582, -1.579018, -1.517266, -1.586032, 1.586891, -0.030042],accel_radss) robot.MoveJ([-1.508372, -1.649491, -1.858695, -1.174046, 1.586735, -0.024833],accel_radss) Prog1() |