[Tomo]

Hi!

So I made a simple robot program which goes through 3 points with joint movement. I then generated this program to script code (in my case URscript). Then I created a new pyhton program and copied this generated code, but then I get errors that lines are not defined. This is the simple code and I , am not very skilled with python programming, so is there any example of a working python script with UR5 robot or maybe can somebody  repair this code to make it work.

def Prog1():
  # Program generated by RoboDK 2.2.9 for UR5 serie 3 on 21/07/2016 15:06:56
  # Using nominal kinematics.
  # default parameters:
  speed_ms = 0.3
  speed_rads = 0.75
  accel_mss = 3
  accel_radss = 1.2
  blend_radius_m = 0.001
  # set_reference(p[0.000000, -1.000000, 0.000000, 0.000000, 0.000000, 0.000000])
  set_tcp(p[0.000000, -0.020000, 0.130000, 0.000000, 0.000000, 0.000000])
  movej([-0.964392, -1.597788, -1.488417, -1.592133, 1.568830, 0.518872],accel_radss,speed_rads,0,blend_radius_m)
  movej([-1.513582, -1.579018, -1.517266, -1.586032, 1.586891, -0.030042],accel_radss,speed_rads,0,blend_radius_m)
  movej([-1.508372, -1.649491, -1.858695, -1.174046, 1.586735, -0.024833],accel_radss,speed_rads,0,blend_radius_m)
end
Prog1()

[tgrobo]

Hi!

So I made a simple robot program which goes through 3 points with joint movement. I then generated this program to script code (in my case URscript). Then I created a new pyhton program and copied this generated code, but then I get errors that lines are not defined. This is the simple code and I , am not very skilled with python programming, so is there any example of a working python script with UR5 robot or maybe can somebody  repair this code to make it work.

def Prog1():
  # Program generated by RoboDK 2.2.9 for UR5 serie 3 on 21/07/2016 15:06:56
  # Using nominal kinematics.
  # default parameters:
  speed_ms = 0.3
  speed_rads = 0.75
  accel_mss = 3
  accel_radss = 1.2
  blend_radius_m = 0.001
  # set_reference(p[0.000000, -1.000000, 0.000000, 0.000000, 0.000000, 0.000000])
  set_tcp(p[0.000000, -0.020000, 0.130000, 0.000000, 0.000000, 0.000000])
  movej([-0.964392, -1.597788, -1.488417, -1.592133, 1.568830, 0.518872],accel_radss,speed_rads,0,blend_radius_m)
  movej([-1.513582, -1.579018, -1.517266, -1.586032, 1.586891, -0.030042],accel_radss,speed_rads,0,blend_radius_m)
  movej([-1.508372, -1.649491, -1.858695, -1.174046, 1.586735, -0.024833],accel_radss,speed_rads,0,blend_radius_m)
end
Prog1()

There is not robolink API import.
'end' is not defined in Python.
Pay attention to case sensitive Python language.

Try this similar example:

from robolink import *    

RL = Robolink()
robot = RL.Item('UR5 serie 3')

def Prog1():
    speed_ms = 0.3
    accel_radss = 1.2
    RL.setSimulationSpeed(speed_ms)
    robot.MoveJ([-0.964392, -1.597788, -1.488417, -1.592133, 1.568830, 0.518872],accel_radss)
    robot.MoveJ([-1.513582, -1.579018, -1.517266, -1.586032, 1.586891, -0.030042],accel_radss)
    robot.MoveJ([-1.508372, -1.649491, -1.858695, -1.174046, 1.586735, -0.024833],accel_radss)

Prog1()