Get and move to home position via URScript / DashboardServer

Technical Questions
1

Hello,

  1. is it possible to query the home position defined in the installation?
  2. And is it possible to move to that home position with either the URScript or DashboardServer API directly? Or can this only be achieved with a “helper script” that I invoked which does exactly that.
2

If you want to run URScript remotely you’ll need to send it over the Primary/Secondary interface (or use something like Interpreter Mode). There’s not a way I know of currently to get the Home position via an interface.

3

Actually there is no way to get the home position which was configurated in polyscope.
But you can set the home position yourself and send it to robot.
You can use my UR Controller module to get all connections to robot to send and requests and get information from robot.
This should just be copied in project folder to use. It cover most functionality of UR but not all. Some things can also may be a bit buggy.

4

Hey thanks for your reponses. Ok so, my workaround within the interpreter mode is to call sub programs, now. In order to move to “Home” I just call my own sub program that invokes the built-in polyscope function “Home”. Feels odd, but does the job.

During my journey I also noticed that a polyscope program that begins with “Home” (or any other pose) and a robot state that differs from that pose requires the user to move to that pose using the teach pendant, explicitly. I think that’s also documented. However, if I run my program remotely it just moves to “Home” directly. I didn’t expect that. This is the reason why I asked that question because I want to run my program only if the robot is at home (but keep the configuration of home on the robot).

@benjamin.schmautz that looks familiar, as I developed something similar some weeks ago (closed source). fyi: I realized synchronized movements with explicit messages sent from the robot over an own socket the robot connects to.