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AndreAndre Posts: 3 Apprentice
Good morning everybody,

I am a new member of this community and I would like to ask you a question.
I am currently using  a Universal Robots UR10 (software version: 3.7.2) and I need to write a variable, more precisly a pose, into the installation file from the robot program. Do you know if something like this is possible? More in detail, the robot arm has to move to a waypoint and, after that, to set that waypoint/pose inside the default.installation file in order to have it stored in the "installation" tab of the Teach Pendant as a feature and to be able to use it as a reference frame according to which to define the waypoints stored inside the robot program. I can't define that point as a variable with an "assignment" command because if I will turn off the robot I will lose the value stored in that variable.

Thank oyu very much for your help

Best regards

Andrea

Comments

  • matthewd92matthewd92 Posts: 702Founding Pro, Tactile Sensor Beta Testers Handy
    Im not aware of anyway to save it as a feature, but you could save it as an installation variable.  You would need to first define the installation variable in the installation tab by assigning it a random pose, could just be p[0,0,0,0,0,0] then from the program you can use the assignment to store the variable.  Then whenever the robot is powered off it will be written to memory.  You could then use this variable in script commands to drive other waypoints off of by using pose_trans, pose_add, etc.
  • AndreAndre Posts: 3 Apprentice
    Thank you for your answer, but unfortunately this is not solving my issue. I noticed that I was not explaing myself fully in a proper way. The fact is that I would like to implement this code inside a switch case, whose cases are commanded by an operator via Modbus from an external computer, of a main Robot Program. By following the solution that you suggested, it would be necessary to make such an assignment each time that i'm running the Robot Program in order to overwrite the variable, defined inside the installation tab as a feature, with the assignment. I would like to find a way according to which this information is always stored inside the Control Unit of the robot, and not just if I am assigning it in the Robot Program. This is why I was asking if it was possible to write directly in the installation tab or inside the default.installation file, so that the coordinates that i found by running the program once are stored each time that I'm running the robot program even without making the assignment that you suggested. Are you aware of such a solution? Or maybe I ma forced to trasnfer this information via Modbus and then to read it again each time that I'm running the Robot Program?
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