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+--- Thread: Python Program Generation Issues (UR) (/Thread-Python-Program-Generation-Issues-UR)
Python Program Generation Issues (UR)-robo.senn-06-13-2018
Hi all,
Perhaps someone could help me figure this out. I've successfully written a simulation for pass/fail testing using only python. My next step is to trigger the logic using our UR5s DIO, but I can't seem to generate anything other than movements using the UR posts.
Specifically, I get only basic movements and none of the if/else logic, UR-specific commands or defined variables, etc.
I have tried all of the UR5 posts available in RDK, and it's still the same story.
Here is a quick example of what I'm seeing:
Snippet Python code:
from robolink import * # RoboDK API
from robodk import * # Robot toolbox
RDK = Robolink()
program = RDK.Item('IO_moveTest')
robot = RDK.Item('UR5')
approach_0 = RDK.Item('ap0')
approach_1 = RDK.Item('ap1')
def unitTest_IO():
global unit_pass_pin # passed unit digital pin
unit_pass_pin = 0
def getUnit():
RDK.RunMessage('Getting Unit', message_is_comment = False)
def testUnit():
program.waitDI(unit_pass_pin, 1)
robot.MoveL(approach_0)
unitTest_IO()
getUnit()
testUnit()
The generated Program using the UR Script post:
def IO_moveTest():
# Default parameters:
global speed_ms = 0.300
global speed_rads = 0.750
global accel_mss = 3.000
global accel_radss = 1.200
global blend_radius_m = 0.001
# Add any suprograms here
# Main program:
# Program generated by RoboDK v3.4.6 for UR5 on 13/06/2018 10:55:28
# set_reference(p[0.000000, -0.500000, 0.000000, 0.000000, 0.000000, 0.000000])
set_tcp(p[0.000000, 0.000000, 0.247000, 0.000000, 0.000000, 0.000000])
movel(p[0.080000, -0.580000, 0.100000, 0.000000, 3.141593, 0.000000],accel_mss,speed_ms,0,0)
# End of main program
end
IO_moveTest()
As you can see, none of my function calls, variables, or UR-commands appear in the generated script.
Any insight would be wonderful. Could there be something in RDK settings that I've missed?
Thanks!
Steve
RE: Python Program Generation Issues (UR)-Albert-06-15-2018
You should use:
robot.RunInstruction("Program1", INSTRUCTION_CALL_PROGRAM)
Other Examples:
robot.RunInstruction('Setting the spindle speed', INSTRUCTION_COMMENT)
robot.RunInstruction('SetRPM(25000)', INSTRUCTION_INSERT_CODE)
You can use RunInstruction on a robot item or a program item. If you call it on a program it will add the appropriate instruction as if you selected Program-Program Call Instruction, if you call it on a robot it will add appropriate code when generating your code.
More information here:
//www.sinclairbody.com/doc/en/PythonAPI/robolink.html#robolink.Item.RunInstruction
And a more complete example here:
//www.sinclairbody.com/doc/en/PythonAPI/examples.html#offline-programming-with-gui
RE: Python Program Generation Issues (UR)-robo1973-07-03-2022
Program1 is in >>>. py How do I put progrma1.py in .script? to be available for the UR3 robot?
Code:
def Extruder_E():
#--------------------------
# Main program:
# Program generated by RoboDK v5.4.3 for UR3 on 03/07/2022 15:11:12
# Using nominal kinematics.
Extruder() <<
/////my pythone subroutine that runs on RoboDK I want to run a program on the robot
# End of main program
end
Extruder_E()