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francescopfrancescop Posts: 2 Recruit
edited September 2017 in Programming

I need to send very long programs to the robot to work with an extruder like 3dprinter, I connected it with the ethernet cable and when I send the program the robot doesn't start, as if it does not have enough memory, there is a way to send the code line by line?


  • LoïcLoïc Posts: 34 Handy
    edited September 2017
    Something that can be done could look like this:

    you create a loop which run until you receive an end signal
      if the end signal is false
        first you wait that the position you receive is different from 0 and different from the previous
        reset a signal that say the trajectory is done
        you memorize this new point in a variable
        you do a move trajectory to this new point
        you send a signal that the trajectory is done

    You could use others variables to decide which kind of move you want to do and for example get different speed.
    This would give you a short program with everything done from the Ethernet. But it's just an idea, I've never tested it.
  • Vincent_PaquinVincent_Paquin Posts: 11 Apprentice
    It depends on the robot you use. A lot of robots allow to include sub programs into a main one. This way the sub programs are in memory only when they are in use. It could be a solution.

    Another approach would be to use socket connection and do most of the computation on a remote computer. Your robot program would be only a simple loop that ask the remote computer for the next waypoint and then move the robot there.
    Vincent Paquin
    Machine Vision Technical Leader
    [email protected]
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
    What kind of robot are you looking to use?  That will shape the answer depending on the capabilities of the different brands.
  • francescopfrancescop Posts: 2 Recruit
    sorry... the robot is UR10
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
    You could set up a server to actually send the script commands to the robot one at a time over port 30003.  YOu would need to have a way to monitor the position of the robot relative to the end position you sent so that you know each position is complete before sending the next one.  Or another way is you can send the commands as servoj moves and then you just need to keep sending them at the right frequency (125 Hz) so that you get smooth motion. 

    I think the issue you might see trying to have a Polyscope program asking for and executing waypoints is it will possibly not have smooth motion which would affect your print quality.
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