I am using a UR5e for laser cutting in my bachelor thesis. To keep the tcp as constant as possible, I wanted to use the moveP function. Unfortunately, I have only been able to create moveL, moveC and moveJ via robodk online programming.
Is there a solution for this?
thanks for your answer.
Unfortunately this doesn‘t help. The Robot still executes a movel command After selecting „run on Robot“ and „run“. To clarify i just insert a „Programm Call“ with the Name „usemovep“,Right?
I also did read in a other post to change the „MOVEL_WITH_MOVEP“ in the apiur.exe.ini to true. This doesn‘t helped either.
06-30-2021, 11:01 AM
(This post was last modified: 06-30-2021, 11:01 AM by Jeremy.)
This does not work if you are using the driver ("Run on robot"). That's for post-processed code. (When you actually generate URP or Script file).
There's a program automatically running on the controller when the driver is active, some kind of "listening" program, maybe you can look to change it in a way that is used MoveP instead of MoveL. I can't remember if you can access the program from the UR teach pendant or if this is locked under our compiled driver.
Just keep in mind that you won't have a fluid motion between points using the driver, as they's a handshake between RDK and the controller at the end of each motion.
Ah okay, i understand.
Well, thank you very much.