Hi everyone,
I’m working on a project where I’m using conveyor tracking on a UR e-series robot, and I want to rotate joint 5 based on an angle sent from a PLC over Profinet.
I’ve successfully set up conveyor tracking and I’m receiving an angle as an int in input_register_0 . I convert it to radians and try to apply it to joint 5, which can be seen on the picture I have attached, but it doenst work. Any guesses why?
So you’re mixing two things up a bit. Joint 5 is not necessarily equal to the 5th coordinate of your base frame/feature (the Z axis). What happens in your code is you rotate around the Z axis of the base and not your 5th joint.
You can use a Q position instead of a P. Then you will need radians for all coordinates, though, since they will all be joint rotations.
What happens when you run your code, though? It doesn’t seem like there’s anything that should be preventing it from rotating around the Z axis of the base.
Does it work if you remove it from the conveyour tracking sequence?
What happens in your get_inverse_kin()? Does it result in a usable position variable (check Variables tab)?
