How to use blend radius on waypoints using urscript

Technical Questions URScript
1

I have given a few points, except for the first and last two points, the speed of the other points is not zero, but I set the blend radius, and found that the middle path point will still stop,the speed is still zero, how to use it or program it?

the python code is
send_point0 = ‘def svt():\n movel(p[0.17,-0.69,0.5,0,3.14,0], a = 0.2, v = 0.1)\nend\n’
Robot_Control.send(send_point0.encode())
time.sleep(4)

send_point1 = 'def svt():\n movel(p[0.4,-0.8,0.3,0,3.14,0], a = 0.2, v = 0.1, t = 0, r = 0.005)\nend\n'
Robot_Control.send(send_point1.encode())
time.sleep(4)

send_point2 = 'def svt():\n movel(p[0.4,-1.0,0.3,0,3.14,0], a = 0.2, v = 0.1, t = 0, r = 0.005)\nend\n'
Robot_Control.send(send_point2.encode())
time.sleep(4)

send_point3 = 'def svt():\n movel(p[0.17,-0.7,0.6,0,3.14,0], a = 0.2, v = 0.1)\nend\n'
Robot_Control.send(send_point3.encode())
time.sleep(4)
2

Hi,

would you please try to send these three movel one time, like
‘def svt():\n
movel(p[0.4,-0.8,0.3,0,3.14,0], a = 0.2, v = 0.1, t = 0, r = 0.005)\n
movel(p[0.4,-1.0,0.3,0,3.14,0], a = 0.2, v = 0.1, t = 0, r = 0.005)\n
movel(p[0.17,-0.7,0.6,0,3.14,0], a = 0.2, v = 0.1)\n
end\n’

if you send the script line one by one with sleep(), it will not be constant movement.

thanks.
’

3

thank you! it worked.

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