P not defined error

Technical Questions URScript
1

I got this error when I am trying to have variable waypoints. I thought “P” was already defined as pose and can use it this way to shift. Do i need to define p? do i use get_pose?

the “CurrentP” is wrong, i realized with my program the error is never right where it says it is, there are 100 Case, all Copy/pasted and identical and not used. I only edited Case 1, and all the errors show up at about case 23. when i fix things in case 1, the error goes away.

p error
p error1110×1285 98.4 KB

program
program775×647 46.5 KB

2

You must use square brackets and not round. ( ) → [ ]. :slight_smile: You’re defining an array.

It might not allow you to use a capital P, either. Use a small letter.

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3

ah, that explains it. I originally had a lowercase, but switched to see if it changed anything. Brackets it is. Following along to a video to learn, screen cap is a bit blurry and tough to tell ( from [

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4

Is there a good resource to learn how to shift features? I am trying to do a repeated movement at 10 or 20 points on a plane. similar to a dispensing pattern. When i try to do palletize or pose_trans, i cant seem to get it right. I have searched the forum and done all the UR classes, still not sure what im missing

5

Shifting Features is, in my opinion, harder than it needs to be to understand. This is because you can, sometimes, want to shift a Feature along some OTHER Feature’s axis.

Because of this, I have this function:

def shiftRelativeToFeature(x_offset, y_offset, z_offset, feature, poseToShift):
  return pose_trans(feature, pose_add(pose_trans(pose_inv(feature), poseToShift), p[x_offset, y_offset, z_offset,0,0,0]))
end

Which takes several inputs. The first 3 are just the cartesion shift you want in each direction (make sure to convert it to METERS before passing it in). The next input is “feature” which is the coordinate system you want to apply the shift along. If you want to move with respect to Base, just pass base in. If you want to shift along the current tool’s orientation, pass “get_actual_tcp_pose()” in there. And finally, “poseToShift” is just the pose you want to apply all that shift to. The function returns a Pose that you can then feed into a Move instruction.

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