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matthewd92

Re: Questions about URScript

The question I would ask is why a thread in the function? Do you need this to be processed in the background? If not, this is a quick function call and so could easily be inline. If you need to know always what tool is loaded, like if someone paused the robot and swapped tools then you need the thread to loop so that it is…

matthewd92

Re: Questions about URScript

If it a thread you use run command. Otherwise just call the function direct. Threads are background functions. They do not block your code that’s controlling your robot. A good built-in example is the timer function. When you start a timer it starts a thread and when you stop it the thread is killed which stops the timer…

jelms

Re: "get_actual_tcp_pose()" help

`get_actual_tcp_pose()` returns a pose. The Y component in the base coordinates in the is index 1 (0-based indices). So you could do: pallet_len:=(point_1[1] - point_2[1])*1000 Or maybe better point_diff:=pose_sub(point_1, point_2)pallet_len:=point_diff[1] This gives a little more info for debug if you need to look at…

bcastets

Re: Force control vs Collaborative mode

There are several possible ways to reduce risks. If you are using a knife, having a guard will probably help. You can also stop the robot is someone is too close to it. This can be done with area scanner for example.

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