Universal Robots+

MoveP Contribution error: Move node PROCESS_MOVE incompatible with NO_BLEND

Hi.

How can I add waypoints to MoveP as a tree node?

code:
MoveNode moveP = factory.createMoveNodeNoTemplate();
MovePConfigBuilder pconfigbuilder = moveP.getConfigBuilders().createMovePConfigBuilder();
moveP.setConfig(pconfigbuilder.build());

WaypointNode abc = factory.createWaypointNode("ABC");
WaypointNode xyz = factory.createWaypointNode("XYZ");
 ・・・
TreeNode movePTreeNode = treeNode.addChild(moveP);
movePTreeNode.addChild(abc);
movePTreeNode.addChild(xyz);

error:
com.ur.urcap.api.domain.program.structure.TreeStructureException: Move node PROCESS_MOVE incompatible with NO_BLEND

Thanks regards.

Hello,

in the Ellipse example it shown how to insert waypoints to a moveP node.
It should normally be included in the starter package. You can also find it here.

1 Like

I had to set the waypoint node’s blend parameter to the share blend parameter.
The default was no blend.

Thank you.