def set_tcp(self, pose):
"""Set the Tool Center Point
See :class:`URScript` for detailed information
"""
script = URScript.set_tcp(pose).encode()
return self._send_script(script)
def stopj(self, a=1.5):
"""Stop (linear in joint space)
See :class:`URScript` for detailed information
"""
script = URScript.stopj(a).encode()
return self._send_script(script)
def movej(self, q, a=0.1, v=0.1, joint_p=True):
"""Move to position (linear in joint-space)
See :class:`URScript` for detailed information
"""
script = URScript.movej(q, a, v, joint_p=joint_p).encode()
return self._send_script(script)
def movel(self, pose, a=0.1, v=0.1, joint_p=False):
"""Move to position (linear in tool-space)
See :class:`URScript` for detailed information
"""
script = URScript.movel(pose, a, v, joint_p=joint_p).encode()
return self._send_script(script)
def __init__(self, host):
self.secondaryPort = 30002
self.secondaryInterface = SocketConnection(host, self.secondaryPort)
self.secondaryInterface.connect()
self.URModbusServer = URModbusServer(host)
self.URScript = URScript()
# variables that count how many times the arm moved to a certain direction
self.right_moves = 0
self.left_moves = 0
self.down_moves = 0
self.up_moves = 0
self.forward_moves = 0
self.backward_moves = 0
# variable to memorize the state of the magnet: true if active, false otherwise
self.is_magnet_active = False
self.set_io(8, False)
# variables representing the minimum and maximum values for the X, Y & Z axis, which the arm can reach (in mm)
self.max_x = 100.00 # to right, 2 moves
self.max_y = -750.00
self.max_z = 400
self.min_x = -300.00 # to left, 2 moves
self.min_y = -850.00
self.min_z = 6
# Max safe values of acceleration and velocity are 0.4
# DO NOT USE THE FOLLOWING VALUES
# MAX a=1.3962634015954636
# MAX v=1.0471975511965976
# These are the absolute max for 'safe' movement and should only be used
# if you know what your are doing, otherwise you WILL damage the UR internally
self.acceleration = 0.1
self.velocity = 0.1
def __init__(self, host):
self.secondaryPort = 30002
self.secondaryInterface = SocketConnection(host, self.secondaryPort)
self.secondaryInterface.connect()
self.URModbusServer = URModbusServer(host)
self.URScript = URScript()
# Max safe values of acceleration and velocity are 0.4
# DO NOT USE THE FOLLOWING VALUES
# MAX a=1.3962634015954636
# MAX v=1.0471975511965976
# These are the absolute max for 'safe' movement and should only be used
# if you know what your are doing, otherwise you WILL damage the UR internally
self.acceleration = 0.1
self.velocity = 0.1