Is it possible to create a plane via script?

Octavian_Staicu

I would like to create a plane with the coordinates i recieve from an external device. Is there any method to set the plane using those coordinates. Thank you! 

bcastets

Are you speaking about UR robot ?

If you are thinking to make relative programming using this plane.
The best is probably to manually create some feature points and then edit them in your program. Relative programming can be made from points.

I may be wrong but I don t think you can create plan from script command on UR robot.

matthewd92

There is, I’m traveling at the moment but I will try to upload the script function sometime today that we use for creating planes from three points. It creates the plane using the old UR method, first point is origin, second point sets +Y axis and third point sets the +X axis. 

matthewd92

I posted the code for the plane finder on this forum topic since it is for useful helper functions https://dof.robotiq.com/discussion/comment/5643/#Comment_5643

I hope that you find this useful for your application.  If you have any questions please let me know.

Octavian_Staicu

Thank you! I am sorry for my late reply.

We use an HMI screen to send the coordinates for the origin, X+ and Y+ axes.

Can you tell me how to use those in the code you posted?

matthewd92

How are you sending the coordinates to the robot, via TCP/IP socket or another method?

Octavian_Staicu

I'm sending them via Profinet, but we found another method. We didn't need to create the plane in script, we created it in the installation mode and we just modified it with the pose_trans/add_pose function using the coordinates from the PLC.

Now the program is working fine.

Thank you very much for your help!