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+--- Thread: Writing messages using RunMessage() to UR5 Teach Pendant (/Thread-Writing-messages-using-RunMessage-to-UR5-Teach-Pendant)
Writing messages using RunMessage() to UR5 Teach Pendant-robo.senn-05-02-2018
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)
RE: Writing messages using RunMessage() to UR5 Teach Pendant-Albert-05-03-2018
You can do the following:
robot.RunInstruction("Your popup message (pause execution)", INSTRUCTION_SHOW_MESSAGE)
More information here:
//www.sinclairbody.com/doc/en/PythonAPI/robolink.html#robolink.Item.RunInstruction
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
RE: Writing messages using RunMessage() to UR5 Teach Pendant-robo.senn-05-15-2018
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)
RE: Writing messages using RunMessage() to UR5 Teach Pendant-Albert-05-18-2018
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.