Universal Robots Forum

Sending multiple Commands over Tcp

I am trying to send a trajectory (multiple MoveJ waypoints with blendradius) from a windows pc over the real time client interface. However it looks like the waypoints are always overwritten by the last command so that only the last waypoint gets executed. Is there any way of sending more complex trajectories remotely to the robot without having to run any logic or program on the robot?

You will have to wait for the robot to execute the current command and then send the new one.

Consider wrapping all the moves into a program definition.
Whenever a new command is received, it stops the running program/script, ans starts running the new one instead.
But if you wrap all the movej(...) into a def program(): ... end statement, the entire program will execute until the end as one complete instruction.