Is there a function in the UR script that can return which length of UR arm is currently attached?
I’m working on multiple palletizing applications with varying UR arms (we use 10e, 20e, 30e). Currently we copy the script from one to another and change a few distance/ reach related variables each time but it would be very nice to skip this step all together.
There is probably an easier way of doing this. But I cant think of any.
My idea would be to have a joint setting and corresponding TCP Positions for each robot.
If you want to know which robot is running the script call ‘get_inverse_kinematics(joint_position)’ and check the result against the 3 possible ones.
You should be able to do socket communication to the Dashboard and pull the Robot model from there.