Hi,
I cannot quite find a forum thread for to help my use-case.
I’m developing a URCap, which, among other things, I want to be able to traverse through a large amount of position data I store in a .json file in a folder in the /programs/ folder. From a toolbar, at the click of a button I want to stream the data from the .json and send servoj() commands to the robot to smoothly traverse back through the positions. I have the delta_t it took to reach each position from the last stored as well for acceleration and deceleration ramping.
For some time I was trying to send servoj commands over the secondary client (port 30002), but from what I’ve read this doesn’t work for real-time control. From looking on the forum, it is recommended to use port 30004 and an RTDE loop, but I don’t want to control the robot remotely. I want to send commands from user interactions with the teach pendant.
For some extra context I use an XML-RPC python daemon to send the positions to the .json, and I’m developing for an e-series.
Any help would be appreciated. Thanks!