Sending TCP position through socket and URscripts

[Corne]

@pho

one slight correction

var1 = p[x,y,z,rx,ry,rz]

I thougt var1 = P[x,y,0,0,0,rz] because z,Rx and Ry aren’t given in the example. so it would occur in an error where z,Rx and Ry are not defined. but indeed it is better to define z,Rx and Ry

@emmanuel.sichet

So the variable= P[x,y,z,rx,ry,rz] refers to TCP coordinates, right ?
And a pose is a point coordinate in space alone, or along a path, right ?

almost, P[x,y,z,rx,ry,rz] is a pose in base coördinates and you tell the cobot to move the tcp to that location(x,y,z) and in that oriantation (Rx,Ry and Rz are the rotation). to create a path you need to move from pose 1 to pose 2.

take al look in this thread: Robot theory and how to use it in UR robots

Corné