Servol takes exactly two arguments, 6 given

Technical Questions
1

Hi everyone,

I am trying to use a servoL() command in my urscript, but cannot find its documentation in the manual:

Is there another document that I should be referencing instead?

1 Like
2

ServoL() does take 6 arguments, you are getting the error because the way you want to use it is on SDU’s ur_rtde third party package.

servoL(data2, 0, 0, t, t_step, gain)

Works for me, where data2 is a pose in format [x,y,z,rx,ry,rz]. Removes the need for asking the robot to compute getInverseKinematics(), since we are giving it a pose (servoL) instead of joint positions (servoJ), so it automatically computes the kinematics on the controller.

In regards to RTDE, this can be utilized to ensure that your data is being transmitted at your requested frequency. Asking the robot to calculate the inverse kinematics leads to your data transmission being slower.