Best Of

There are two ways to accomplish this.  

If all you want to do is keep the variable state run to run, but not when power is lost, then add an Init Variables to the program and then you can choose the variable you want and tell it to keep its value from the last run.

The permanent way to do this is to add an installation variable.  This variable will be available to any program that uses that installation file and would be persisted even after a power loss event such as powering down the robot.  Only recommend these when its a variable that you do not ever want to lose its state regardless of power and it doesn't hurt to be available in other programs.

I think that makes sense. The 3.5kg are probably the portion of the base that doesn't move.

I would say based on just looking at the UR documentation that there is something missing, the UR product page for example lists the weight of a UR10e as 33.5 kg but if you add up all of the weight on the kinematics page that UR provides the total mass of the links only adds up to a little over 29kg. so we are missing 3.5 kg of mass on the arm. Having replaced the joints on these robots I will say the bulk of the link mass is the joint, the actual tubes connecting the joints are very light weight.  I am not sure where the missing mass is between the product spec page and the kinematics page but I would assume that the masses listed on the kinematics page are the total mass of the link element including the motors.  I would start there and see what your control algorithm looks like.

I think what you are asking for is Cartesian coordinates for each joint. There is a way to get the TCP in xyz. I don't think there is a built in way to request them. Computing the forward kinematic transform for each intermediate joints position in base coordinates using the specific robot parameters. You can probably use pose_trans() if you need to compute it in a script.

I am curious why you would need that. Care to share?

I know that the elbow position is available on the RTDE interface but I cannot find any other location where it would be available via script.  I would submit your use case as a feature request to UR.  They may be able to add that to the script manual in future releases if you have a compelling use case or may be able to help you calculcate it.

Hi, we are working on Keyence camera CVX for serveral customer applications. So far all working great. As far as we know, they do not have any UR cap plugins. It is basically UR scripts. We need to preload the script in Before start sequence in order to connect and get data from camera.

That was it! Should have looked more carefully... Thank you.