Teach_mode() and end_teach_mode does not work

Technical Questions URScript
1

Ur version3.3.2.266
In my project,I need to calibrate pose to extend function of ur.
I wrote scripe code “teach_mode” and “end_teach_mode” during play the program.

teach_mode.jpg960×540 93.4 KB

I expect after 1st popup,ur enable teach mode so that user could move robot to particular pose.Then user would click on confirmation popup button,then teach mode would be disabled.

Please advice,thank

2

it work for me,

teach_mode()
Popup
end_teach_mode()

the robot will continue in teach mode and there will be a popup on pendant. robot will end teach mode after click ok on popup.

3

what your ur version?

4

UR version 3.3.3.292

5

It work after update ur version to 3.3.3.292.
thank

6

Consider that the first popup may be “blocking”, hence the “teach_mode()” might not be called, before pushing the first popup.

7

Issue resolved after update from version 3.3.2.266 to 3.3.3.292.
close case.
Thank

8

want to use script to control ur in teachmode,
i write c++ prog
tcpclient->write(“movej……\n”) it works
but tcpclient->write(“teachmode()\n”) it does not works, the log in teachpendant show the teachmode prog is over
i also try put this script in a timer, but it alse dose not works
please tell me why?

9

@lvyq83
When you send a single line of URScript to the client interface, the program will terminate as soon as the line is executed.

In the movej-example, the script-function is blocking, and will complete the motion, before the program ends.
teach_mode() is not a blocking call, it enters teach mode, but then the program terminates immediately after, thus ending teach-mode again.
To make the robot remain in teach-mode, you need to keep the program running until teach-mode should end by wrapping the necessary commands into a function such as:

def myprog():
   teach_mode()
   sleep(5)
   end_teach_mode()
end

This will put the robot in teach-mode, wait for 5 seconds (or you could wait for a digital input) and then end teach-mode before terminating the program.