Trouble with Global Variables for Position
/ Most recent by matthewd92
I wrote a simple program (as obnoxious as that is) to ‘teach’ the points: variable = get_actual_tcp_pose()The problem is, I get the ‘Script function movej cannot find an inverse kinematic solution’ error. When I go into the Script file for the program, I see that all of the ‘normal’ waypoint movej commands look like this:
movej(get_inverse_kin(p[-.865714192411, .346413018092, .404586829815, -1.216919131853, -1.127686692460, 1.175113434647], qnear=[-3.391362253819601, -1.8620155493365687, -1.6408041159259241, 3.538212776184082, -1.7426098028766077, 3.1503243446350098]), a=1.3962634015954636, v=1.0471975511965976)
but the Script for the movej trying to use a variable position as the waypoint is simply:
movej(variable, a=1.3962634015954636, v=1.0471975511965976)
And kicks out an error every time.
Has anyone else ever tried to use Installation Variables to store waypoints? Am I doing something stupidly wrong here? I'm desperately trying to avoid having to write the entire thing from scratch in Script as well, because that would make me the only person in a large company who knows anything about the program, which is not a good long term solution.
This is on a CB3 UR-10 with v3.9 of the software.