[christian.hansen]

Hi all out there...

I wanted to have a more smooth robot motion with setRounding, but it did not really work. No effect, when I added this in the Python code as seen below: 

There was not really any Examples of using setRounding. Thx in advance :)

Code:

#Set smoothing
setRounding(100)

def pickStack(target):

   # In respect to target pos, move the tool at the approach pos
   stackTargetOffset = target.Pose().RelTool(5,0,-500,rz=0)
   robot.MoveJ(stackTargetOffset)

   # In respect to target pos, move the tool all the way under the stack
   stackTargetOffset = target.Pose().RelTool(5,0,0,rz=0)
   robot.MoveL(stackTargetOffset)

   #Then move to the target and get in contact with the stack
   robot.MoveL(target)

   #Attach the stack so we see in simulation that the stack is attached
   tool.AttachClosest()

   # In respect to target pos, then move the stack a bit up in the air
   stackTargetOffset = target.Pose().RelTool(-5,0,0,rz=0)
   robot.MoveL(stackTargetOffset)

   # In respect to target pos, then move the stack out away from the other stacks
   stackTargetOffset = target.Pose().RelTool(-5,0,-500,rz=0)
   robot.MoveL(stackTargetOffset)

   # Move the robot to home
   robot.MoveJ(home)

[Vineet]

Hello,

You would have to use the following:

robot.setRounding(100)

Its needs to run as a method on an item of robot type. (ITEM_TYPE_ROBOT) or to add an instruction, you can run as a method on a program too.