UR_Scripting/UR_Code/4exMove.script at main · glinvad/UR_Scripting · GitHub

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def P4exMove():
  set_tcp(p[0.0,0.0,0.0,0.0,0.0,0.0])
  set_safety_mode_transition_hardness(1)
  set_gravity([0.0, 0.0, 9.82])
  set_standard_analog_input_domain(0, 1)
  set_standard_analog_input_domain(1, 1)
  set_tool_analog_input_domain(0, 1)
  set_tool_analog_input_domain(1, 1)
  set_analog_outputdomain(0, 1)
  set_analog_outputdomain(1, 1)
  set_input_actions_to_default()
  step_count_dc5b5707_4c01_4a71_91ff_ecb262bcdd5c = 0.0
  thread Step_Counter_Thread_00170541_4724_4e7b_9aac_93bb12fa1e4f():
    while (True):
      step_count_dc5b5707_4c01_4a71_91ff_ecb262bcdd5c = step_count_dc5b5707_4c01_4a71_91ff_ecb262bcdd5c + 1.0
      sync()
    end
  end
  run Step_Counter_Thread_00170541_4724_4e7b_9aac_93bb12fa1e4f()
  set_tool_communication(False, 115200, 0, 1, 1.5, 3.5)
  set_tool_output_mode(0)
  set_tool_digital_output_mode(0, 1)
  set_tool_digital_output_mode(1, 1)
  set_tool_voltage(0)
  set_target_payload(0.000000, [0.000000, 0.000000, 0.000000], [0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000])
  $ 1 "BeforeStart"
  $ 2 "Script: 4_Ex_Move.script"
  def Move(x, y, z, rx, ry, rz, dX, dY, dZ):
  	movel(p[x, y, z, rx, ry, rz], a=1, v=1)
  	sleep(1.0)
  	x = x + dX
  	y = y + dY
  	z = z + dZ
  	movel(p[x, y, z, rx, ry, rz], a=1, v=1)
  	sleep(1.0)
  end
  $ 3 "'Start position'"
  # 'Start position'
  $ 4 "x≔0.0"
  global x=0.0
  $ 5 "y≔-0.2"
  global y=-0.2
  $ 6 "z≔0.3"
  global z=0.3
  $ 7 "rx≔0"
  global rx=0
  $ 8 "ry≔3.14"
  global ry=3.14
  $ 9 "rz≔0"
  global rz=0
  $ 10 "'going to start position via movej'"
  # 'going to start position via movej'
  $ 11 "movej(p[x,y,z,rx,ry,rz],a=1,v=1)"
  movej(p[x,y,z,rx,ry,rz],a=1,v=1)
  $ 12 "'movement on x,y,z (mesurements in [m])'"
  # 'movement on x,y,z (mesurements in [m])'
  $ 13 "deltaX≔0.25"
  global deltaX=0.25
  $ 14 "deltaY≔0"
  global deltaY=0
  $ 15 "deltaZ≔0"
  global deltaZ=0
  while (True):
    $ 16 "Robot Program"
    $ 17 "Wait: 0.01"
    sleep(0.01)
    $ 18 "Move(x,y,z,rx,ry,rz,deltaX,deltaY, deltaZ)"
    Move(x,y,z,rx,ry,rz,deltaX,deltaY, deltaZ)
  end
end