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buchnich
Posts: 2 Recruit
Unable to perform 'movel()' script commands |
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Hello,
I am trying to integrate a UR-10e. I took off the gripper for testing. I'm trying to make a function that moves the robot up linearly in the z-axis to some predetermined 'safe height'. Obviously, the TCP payload and COG have all been set to 0. However, whenever I try to execute the following code, I get any number of errors, including but not limited to C204A2, C218A0, C204A1, C159A3, and C153A3. I most often see "Sudden change in target position". Note: the move always works after a reboot, but only one time, then it starts to error again. It seems like Wrist 1 may be part of the problem. Can anyone see what may be the issue?
I am trying to integrate a UR-10e. I took off the gripper for testing. I'm trying to make a function that moves the robot up linearly in the z-axis to some predetermined 'safe height'. Obviously, the TCP payload and COG have all been set to 0. However, whenever I try to execute the following code, I get any number of errors, including but not limited to C204A2, C218A0, C204A1, C159A3, and C153A3. I most often see "Sudden change in target position". Note: the move always works after a reboot, but only one time, then it starts to error again. It seems like Wrist 1 may be part of the problem. Can anyone see what may be the issue?
def moveToSafeHeight(): stopj(1) if is_steady(): currentPose = get_actual_tcp_pose() currentPose[2] = safeHeight movel(currentPose, a=0.5,v=0.5) end end
i see in your code than just after the stopj(1) you dont have a delay to let the robot completely stop and maybe if is not steady you skip to the next instruction. Did you tried to put a wait is_steady ?