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Home > Programming > Spiral search with variable target position
operez

Hi Guys,

We have an UR10 e-series with the force pilot installed. Is it possible to use the spiral search command but instead of using teach target position, to use a predefined variable position?

Thanks 
David_Gouffe

Hi, 

The brief answer is Yes, it is possible. 

You need to call the Spiral Search using a script function replacing the target position by the predefined variable position. 
I will build an example and come back to you with it. 

Regards, 


operez

Thanks 
David_Gouffe

Hi, 

You simply need to call scripts to replace the usual node of the spiral insertion:

---- Code ----

     rq_ins_speed_setting = 0.0050
     max_distance2≔pose_dist(p[0,0,0,0,0,0],get_actual_tcp_pose())
     rq_insert_spiral_urcap("z+", 3, 5, 0.7, peck_mode = False, tangential_speed = 0.0050) 
---- /Code ----

p[0,0,0,0,0,0] is the target position, you can replace it with the position variable. 
Inside rq_insert_spiral_urcap( ) are the parameters of the spiral search. 

David_Gouffe
operez

I'll check.

I appreciate the time you put into this matter.

Thanks