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ctrlctrl Posts: 5 Apprentice
Hi - Fairly new to programming URs.  I have two of them and I want to have one mimic the other with a settable delay. Has anyone done this or is there already a function?  I currently have a TCP/IP socket connection to one of the robots which I control via a PC.  I am hoping that the follower robot will not have to have a duplicate program in it.   However,  if I need to predefine waypoints and then update them on the fly I could do that.  I could also socket into the follower robot and feed it commands that I read from the first robot....I think....  Is there another method or easier way to do this?  

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  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,070 Handy
    I guess it depends on what you are ultimately trying to accomplish. Having a robot mimic the motion of another robot is not that hard, simply connect the slave robot as a modbus client to the master and then read in the joint positions of the master robot as milli-radians, convert to radians and send to a servomechanism command that is looping and using sync at the time step of the robot to drive the control. 

    Adding a delay in could pose challenging as you’ll need to store the position data somewhere until the delay it expires and then read back from that to play the motion. 

    If you simply want to have the same program playing on the robots then you can use the same technique as far as modbus between the two robots and then just use registers for the master to tell the slave to go, can even connect master to slave so the slave can acknowledge the command. 
  • ctrlctrl Posts: 5 Apprentice
    Thank you - I will give that a try.  
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