@gari.kun wrote:
Hi,
I am trying to control a UR5 Robot using the HAL plugin.
On my first try using export urscript code, the robot worked just fine, following the path defined exactly as planned on grasshopper.
One week later, i try to run new script, the robot keeps going to one specific position. I try to run the previous script, can’t be helped, the robot still doesn’t run properly.
Could anyone bring any feedback on such situation ? Here are the following images of how the robot reacts.
In the following, you can see picture of how is the tool working from grasshopper, i believe the TCP is well setup, as long as the TCP configuration through 3 points in the UR5 controlpad.
Following is the script :
def MainModule() :
#Variables
movep(p[0.75,-0.16,0.045,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.16,-0.005,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.2,-0.005,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.2,0.045,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0,0.042,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.1,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.1,0.022,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.16,0.045,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.16,-0.005,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.2,-0.005,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.2,0.045,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.08,0.022,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.08,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.18,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.18,0.022,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.16,0.045,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.16,-0.005,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.2,-0.005,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.2,0.045,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.16,0.022,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.16,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.26,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.26,0.022,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.16,0.045,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.16,-0.005,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.2,-0.005,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.2,0.045,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.24,0.022,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.24,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.34,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.34,0.022,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.16,0.045,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.16,-0.005,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.2,-0.005,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.75,-0.2,0.045,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.32,0.022,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.32,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.42,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.42,0.022,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0,0.042,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.42,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)
movep(p[0.616,0.42,-0.008,0,0,0], a=0.001, v=0.15, r=0.001)end
MainModule()Any hint, help, comment, direction, is very very welcomed.
Thank you in advance for your time.
Best,
Ghali
Posts: 1
Participants: 1