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Re: Control UR robot using a joystick connected on a PC

MoveJ and MoveL always stop when the motion is completed. Those command are use to request a position.
SpeedJ and SpeedL are used to request a speed. If you request speed the robot does not stop between each commands.
There are more details about this in UR script manual.

Re: Control UR robot using a joystick connected on a PC

@asagaz
It would be good to check what value you have for each joystick position. In my case the joystick position was in the range [-1;1] if you have a larger range like [-100,100]. If you have this kind of range, you will have to adjust the calculation formula to make sure you request possible displacement to the robot.
In your case, it looks like you request a long displacement (like +2m) and the robot says that he cannot make it.

Re: Control UR robot using a joystick connected on a PC

@asagaz
lowSegmentLen and upperSegmentLen : what does that mean ?

This is range of variation for negative and positive value of the joystick.

lowSegmentLen=1+axisIniPosition
upperSegmentLen=1-axisIniPosition

Example:
The neutral position of the joystick is 0.2.
The length of the lower range is 0.2-(-1)=1.2
The length of the upper range is 1-0.2=0.8

I then use those upper and lower range to calculate the position of the joystick in the upper and lower range.

Example:
The position of the Joystick is 0.4.
It is (0.4-0.2)/0.8=25% of upper range.

I send the date to Robot modbus register in the range [0;200]. So I convert the range [-1;1] to [0;200]

Then in the UR program I access the value of modbus register and convert it back in the range [-1;1].

(x-100)/100<br>

In the formula d2r(5*(x-100)/100), the 5* is just a factor to increase the angle range to [-5,5] degree. You can change this factor as you like to get the reaction you want.

-0.05*(R_upDown-100)/100 is similar. -0.05* is a factor use to lower the reaction and reverse it. You can adjust it as you like.

Re: Camlocate and depalletising

heres what we did and it worked, thankyou though I will probably have ago at the thread though due to fact we will have to put the qty of what's in a layer as a variable.

Re: Control grippers from Python using MODBUS RTU

@bcastets once again you come to the rescue. Its a huge file to send for one command but I cannot say it is noticeably slow. THANK YOU for pointing me in the right direction! Seriously, thank you!

Re: How to control Robotiq product through port 30002 on universal robot.

@David_Gariepy Thank you soooo much for this. It works like a charm.

Re: Movement with time parameters; How it works?

Maybe, I have found very few uses for the timed moves, outside of very specific cases where I need something to take a specific amount of time and generally it's solved in another way as I need that time to be variable. If you get some more information from UR please post back here so that we can learn from you.

Re: Movement with time parameters; How it works?

Thanks for your answers.

@bcastets I've already checked the UR software manual and there is no clear indications about my questions.

@matthewd92, I assume exactly the same as you said, maximum speed that safety gives and maximum acceleration if the time for the movement is too short.

The fact is, my client don't want their robot to exceed a certain acceleration in order to prevent the robot's wear.

Maybe someone from UR might help?

Re: Movement with time parameters; How it works?

I have never tried setting a time that low for a long move but we have used it when we know we want a move sequence to take a certain amount of time, such as blowing coolant out of chucks, we just programmed the moves and told them we want them to take 1 second for instance, 3 or 4 moves so that we had a total blow off time of X seconds to, we were then able to just adjust the times until we achieved the blowoff we wanted and know it will always take that time.

I would assume that UR would still use all controls to prevent the robot from exceeding the safety speeds that are set but would use the maximum allowed speed and acceleration to make the move. It might also throw an error, I know when using script commands if you command a speed greater than it is allowed it just will not go that fast, it will only go as fast as allowed and you can actually see this with the speed slider where it will drop the value from 100% to a lower value on those moves.