Hello, I am trying to control the screwdriver rotation in the UR+Robotiq Screwdrivering solution by sending scripts from my computer to the robot. This works on the teach pendant, but the program does not execute the rotation as expected. What could be the reason for this?
import socket
def RobotInterface(command: str):
# initialize variables
robotIP = "192.168.1.10"
PORT = 30002
# create socket
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((robotIP, PORT)) # connect to UR port 30001
s.send(command.encode()) # encode data and send through socket
s.close() # close the socket
print("Script Command Complete")
moves = ['def moves():',
'set_digital_out(2,True)',
# 'movel(pose_add(get_actual_tcp_pose(),p[0,0,-0.1,0,0,0]))',
'rq_screw_activate()',
'rq_screw_turn(3,1,0,100,False,9)',
'set_digital_out(2,False)',
'end']
cmd = ''
for line in moves:
cmd += line + '\n'
RobotInterface(cmd)
