Movej over TCP/IP does not work

Technical Questions
1

I am trying to move the arm by sending commands over TCP/IP via socket library. The digital pin commands work fine, but I am unable to move the arm. Can anyone provide a working example please?

1 Like
2

Make sure you are in remote mode.

3

I am in remote mode. It is fixed when I introduced a delay to the code. Why does this happen?

4

Now the same code stopped working. I am really confused. Here is the all code:

import socket
import time

PORT = 30001
HOST = "192.168.1.20"

def client():
    s = socket.socket()
    s.connect((HOST, PORT))
    
    while True:
        try:
            command = "set_digital_out(2, True)\n"
            s.send(command.encode('utf-8'))
            received_data = s.recv(1024)
            time.sleep(1)
            command = "set_digital_out(2, False)\n"
            s.send(command.encode('utf-8'))
            received_data = s.recv(1024)
            time.sleep(1)
            command = "movej([-1.5708, -1.5708, -1.5708, -0, 1.5708, -4.71241], a=1.2, v=1.2)\n"
            s.send(command.encode('utf-8'))
            received_data = s.recv(1024)
            time.sleep(5)
            command = "movej([-1.5708, -1.5708, -1.5708, -1.5708, 1.5708, -4.71241], a=1.2, v=1.2)\n"
            s.send(command.encode('utf-8'))
            received_data = s.recv(1024)
            time.sleep(5)
            # command = "twofg_grip_ext(24.5, 50, 100)\n"
            # s.send(command.encode('utf-8'))
            # time.sleep(5)
        except KeyboardInterrupt:
            break
    s.close()

if __name__ == '__main__':
    client()
5

Hi, if no sleep between move commands, the port will always do the latest one.

Have tried the code posted, worked well with URSim. any error reported when it is not working?

6

It was the cable. I changed the cable now it works. Do you have any idea how I can control 2FG7 gripper via TCP/IP?

7

Hi @kayanh , did you figure out how to get the 2FG& gripper working via TCP/IP with python?

8

I have the same problem working via TCP/IP with python. This is my code

trans=s.send((“twofg_grip_ext(40, 25, 100)” “\n”).encode())
time.sleep(5);

But didn’t works. I can manage the UR with other commands by python without issues

Someone have soved it?
Thanks