hello everyone,
this is my first time working with a UR and I am having some troubles.
my project is a simple camera operated pick and place, the program I have moves my TCP right above my target, but it need it to move down to a set Z point (-15.5)
I have tried offset movements, but my camera program does not have a set Z I can offset from.
any help would be appreciated.
You might find the “Direction” node fits the bill here. You can choose what orientation to use as the Z-axis (usually Tool or some user defined Feature is best here) and some various conditions such as move a certain distance, until tool contact, etc. Otherwise you can select the Waypoint node and change it from Fixed to Relative. This sort of records a type of motion you want, and will apply it to wherever the robot is when that node runs. So you could set your From Position anywhere, and the To Position to be -15.5 units in Z.
thanks, but it seems I have an older system as I have no direction nodes to use. the reference move seems to act more like an offset move than a move to point.
these are the nodes I am able to use.
I looked around to set the from point to “anywhere” but I don’t see an option
at this point I feel that I will have to use some weird get TCP pose shenanigans in script
Hi, you can use this method:
current_pos = get_actual_tcp_pose()
new_pos = current_pos
new_pos[2] = -15.5/1000
After this, use a variable waypoint under the MoveL command and use new_pos as the variable for that waypoint. However, if you’re not using the base plane for this movement, let me know as this snippet of code will need to be modified then.
relative waypoint. go to position from camera and stop program. then just teach a new waypoint as relative moveL. set first point at current position and set second point however far down you want to pick the object,
