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Kasem
Posts: 8 Apprentice
Freedrive mode with Servoj in same URscript problem |
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/ Most recent by jelms
in Programming
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in Programming
Hello
I'm working on controlling UR3e SW V5.6 over Profinet , i want to execute trajectories by sending the joints positions and control free drive too based on if conditions dependent on bit registers , as shown in the URscript below , but i have a problem that the robot vibrates if both variables are false and if i touched the robot , the trajectory execution works and free drive works too , but i think the problem is in the else part , i want to end free drive mode and go to default positions ,this is where the robot vibrates
I'm working on controlling UR3e SW V5.6 over Profinet , i want to execute trajectories by sending the joints positions and control free drive too based on if conditions dependent on bit registers , as shown in the URscript below , but i have a problem that the robot vibrates if both variables are false and if i touched the robot , the trajectory execution works and free drive works too , but i think the problem is in the else part , i want to end free drive mode and go to default positions ,this is where the robot vibrates
def joints_move_register_v3():
Exceute_trajectory=read_input_boolean_register(3)
Exceute_Teach_Mode=read_input_boolean_register(4)
if (Exceute_trajectory == True and Exceute_Teach_Mode == False ):
q0=read_input_float_register(0)
q1=read_input_float_register(1)
q2=read_input_float_register(2)
q3=read_input_float_register(3)
q4=read_input_float_register(4)
q5=read_input_float_register(5)
q=[0.0,-1.57,q2,-1.57,q4,q5]
servoj(q,0,0,0.008,0.1,300)
elif(Exceute_Teach_Mode == True and Exceute_trajectory == False ):
freedrive mode()
else:
end_freedrive_mode()
q=[0.0,-1.57,0.0,-1.57,0.0,0.0]
servoj(q,0,0,0.008,0.1,300)
end
end
if someone who have good URscript programming skills please help me to make it work
if someone who have good URscript programming skills please help me to make it work
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Or if you want to use joint norm