Monitoring current line of scipt the robot is executing

Technical Questions URScript
1

I just started working with the robot recently so apology if this is a dumb question. I typically use the script node to program the robots’ movements instead of using the pendant through waypoints. I wondering if there are any ways to track/view which line of the script the robot is executing (ie. which “movel” values) to keep track of the robot’s movements. Is there a way to do this through a variable or any other way? Any suggestions are greatly appreciated. My typical script would look something like below:

def Program():
toolTcp = p[0, 0, 0, 0, 0, 1.5708]
toolWeight = 0
toolCog = [0, 0, 0]
Speed000 = 0.08
Speed001 = 0.08
Zone000 = 0.001
Zone001 = 0.01
set_tcp(toolTcp)
set_payload(toolWeight, toolCog)
movej([1.5708, -0.8727, -2.0944, -1.5708, 1.6057, 3.1416], a=3.1416, v=0.2513, r=Zone000)
popup(“Moved to home position press CONTINUE to start the program”, “StartConfirmation”,warning=False,error=False,blocking=True)
movel(p[-0.12965, 0.6096, 0, -2.22144, 2.22144, 0], a=1, v=Speed001, r=Zone001)
movel(p[-0.19262, 0.60576, 0, -2.22144, 2.22144, 0], a=1, v=Speed001, r=Zone001)
movel(p[-0.25439, 0.59303, 0, -2.22144, 2.22144, 0], a=1, v=Speed001, r=Zone001)
movel(p[-0.31308, 0.57, 0, -2.22144, 2.22144, 0], a=1, v=Speed001, r=Zone001)
movel(p[-0.36665, 0.53675, 0, -2.22144, 2.22144, 0], a=1, v=Speed001, r=Zone001)
movel(p[-0.41422, 0.49532, 0, -2.22144, 2.22144, 0], a=1, v=Speed001, r=Zone001)
movel(p[-0.45701, 0.44892, 0, -2.22144, 2.22144, 0], a=1, v=Speed001, r=Zone001)
movel(p[-0.49823, 0.4011, 0, -2.22144, 2.22144, 0], a=1, v=Speed001, r=Zone001)
movel(p[-0.54279, 0.35645, 0, -2.22144, 2.22144, 0], a=1, v=Speed001, r=Zone001)
movel(p[-0.59614, 0.32321, 0, -2.22144, 2.22144, 0], a=1, v=Speed001, r=Zone001)
movel(p[-0.65779, 0.31157, 0, -2.22144, 2.22144, 0], a=1, v=Speed001, r=Zone001)
end

2

Not sure if there are better ways but the easiest would probably be the way you described, by simply incrementing a variable after each waypoint (wp_index = wp_index + 1)
You can then either look at the variable section to check the current value or use the textmsg() function to print it to the log.

3

Thank you for your response. The only drawback to this is that it’ll require this line of code (wp_index = wp_index + 1 ) after each line of code which essentially doubles the number of lines of code the program has unless I’m missing something… Any idea how I may be able to avoid this?

4

How long is your program and how are you sending it to the robot?
Doubling the number of lines should not be a big problem if your program has less than 10000 lines.