Create Installation Node with MoveL buttons

[flopez]

Hi there!

I want to create a URCap that, from the Installation window, get the actual pose and move the robot to another position with an offset. When pressing a button, the robot will move to the next position with a offset defined by the user.

Is it possible to do that? I don’t find the way to create a move in Java…

Thanks for your time!

[ronny.buch]

Hi,
Maybe the get RT Data Sample can help you. I changed the script to move from current Position an Offset in Z.

URCap Sample: getRobotData Real Time Client reader URCap

getRobotData Real Time Client reader URCap Description of functionality: This URCap implements a new custom class, getRobotRealtimeData.class, that connects to the Real Time Client interface, and reads the message. The data from the Real Time Client is broken into the information it represents, and implements get-methods to read actual TCP pose, actual joint positions, joint temperatures, joint operation modes and the safety limited speed scaling percentage. You can add your own get-methods a…

[flopez]

Thank you, I’m gonna check it!

[flopez]

I checked the get RT Data Sample, but I didn’t find how to create a button with “Move here” using MoveJ or MoveL…

I would like to create a button like “Mover aquí” (Move here in Spanish). One button for MoveL and one for MoveJ. Is it possible?

Thanks for your help and time. I really appreciate that.

[jbm]

It is currently not supported to create a “user interaction”, that navigates the user to the “Auto Move” screen, and allows the user to use Auto or Manual to reach a certain target position.
There is a feature request for this functionality. And I would suggest supporting this feature with your use-case.

A workaround could include the Send Script with button URCap sample, that could implement this behavior. However without the ability to use “auto or manual” screen.

URCap Sample: Send Script with button push URCap

sendScriptWithButton URCap Description of functionality: This URCap enables sending a movej() or popup() command to the secondary client interface, by pushing a button in the GUI. It implements the class clientSendScript.java which handles connection, transmission of script, and termination of the necessary socket. According to the URScript manual, two pre-defined functions has been implemented, namely movej() and popup(). For demonstration, this has been put into use in a program node with b…