def ping(self, timeout=10):
"""Ping ABB robot controller.
Parameters
----------
client : :class:`compas_rrc.AbbClient`
Client connected to controller.
timeout : :class:`float`, optional
Timeout for reply. Defaults to ``10``.
Raises
------
:exc:`TimeoutError`
If no reply is returned before timeout.
"""
self.send_and_wait(Noop(feedback_level=FeedbackLevel.DONE),
timeout=timeout)
def ping(client, timeout=10):
"""Ping ABB robot controller.
Parameters
----------
client : :class:`compas_rrc.AbbClient`
Client connected to controller.
timeout : :class:`float`, optional
Timeout for reply. Defaults to ``10``.
Raises
------
:exc:`TimeoutError`
If no reply is returned before timeout.
"""
feedback = client.send(Noop(feedback_level=FeedbackLevel.DONE))
try:
return feedback.result(timeout=timeout)
except Exception as e:
if e.args[0] == "Timeout: future result not available":
raise TimeoutError(e.args)
else:
raise
def std_move_to_frame(
frame,
tool="tool0",
wobj="wobj0",
motion_type=Motion.LINEAR,
speed=200,
accel=100,
zone=Zone.FINE,
timeout=None,
):
"""Move robot arm to target or targets.
Parameters
----------
frame : :class:`compas.geometry.Frame` or :obj:`list` of :class:`compas.geometry.Frame`
Target frame or frames.
tool : :obj:`str`
Name of tool as named in RAPID code on controller to use for TCP data.
wobj : :obj:`str`
Name of work object as named in RAPID code on controller to use for
coordinate system.
motion_type : :class:`compas_rrc.Motion`
Motion type, either linear (:class:`~compas_rrc.Motion.LINEAR`) or
joint (:class:`~compas_rrc.Motion.JOINT`).
speed : :obj:`float`
TCP speed in mm/s. Limited by hard coded max speed in this function as
well as safety systems on controller.
accel : :obj:`float`
Acceleration in percentage of standard acceleration.
zone : :class:`compas_rrc.Zone`
Set zone value of movement, (acceptable deviation from target).
timeout : :obj:`float`
Time to wait for indication of finished movement. If not defined no
feedback will be requested.
""" # noqa: E501
if not isinstance(frame, Sequence):
frames = [frame]
else:
frames = frame
with RosClient() as ros:
# Create ABB Client
abb = AbbClient(ros)
abb.run(timeout=5)
abb.send(SetTool(tool))
abb.send(SetWorkObject(wobj))
# Set acceleration data
ramp = 100 # % Higher values makes the acceleration ramp longer
abb.send(SetAcceleration(accel, ramp))
# Set speed override and max speed
speed_override = 100 # %
max_tcp_speed = 500 # mm/s
abb.send(SetMaxSpeed(speed_override, max_tcp_speed))
# Move to Frame
for f in frames:
abb.send(
PrintText(" Moving to {:.3f}, {:.3f}, {:.3f}.".format(
*f.point.data)))
abb.send(MoveToFrame(f, speed, zone, motion_type))
if timeout:
abb.send_and_wait(Noop(), timeout=timeout)