[EvanPeat]

My project involves using RoboDK with a UR5e in online mode. There are a couple of different issues I have been dealing with.

When a move command is sent to the robot, the robot will move to the desired location at the expected speed. However, in RoboDK you can see the joint values are changing much slower than the actual robot. Even after the robot has fully stopped the joint values will be changing in RoboDK for 5-10 seconds afterwards. This means that there is a delay between the robot reaching the end of the first movement and then executing the second movement.

I tried to get around this by using MakeProgram and then trying Busy(), WaitMove(), WaitFinished(). However, none of these would actually cause any sort of delay, and the codebase would try to call the following instructions (which would then cause errors as the robot was still moving).

My program will utilize swapping between different runmodes semi-frequently, if that is helpful info. I cannot provide a sample project, but I may be able to provide a small snippet of code.

[Albert]

Are you using the latest version of RoboDK?
Can you send us your RoboDK project file?

What computer specifications do you have?

[EvanPeat]

Hello,

I'm not on the latest version. I'm still on 5.8.0.24806

I have attached my project file. It should not be the amount of objects causing the issue, as I have run the code before with a larger amount of objects and not had the issue with the movement lag in roboDK. I have always had the issue with the Busy() not working as intended however.

Computer Specs (I have a Latitude 7400):
32GB of RAM, with a Intel® Core™ i7-8665U CPU @ 1.90GHz  2.11 GHz

[EvanPeat]

I updated to the newest version of robodk, ran some tests and had the same set of errors going on.

[Albert]

Do you see any error messages on the UR robot controller side?
Can you provide us with some sample code to reproduce this issue?

[EvanPeat]

I will look at error messages on the UR robot controller side when I get a chance.

I'm not able to provide full code, but I will explain what I can. My codebase is much larger than what i provide and explain, but I don't think any of the other stuff would impact it...


Before I calculate path-planning, collision detection will be turned on for all objects inside RoboDK except the robot flange and the gripper (and any internal gripper parts).
Then the runmode will be set to simulate, and movements/path-planning will be simulated. I know I could use MoveJ_Test or MoveL_Test, however I have had issues where MoveL_Test does undefined and incorrect behavior. As such I just use MoveL while inside the simulate mode to calculate if a MoveL would be valid.

After I have found a path that matches my criteria, I will change the runmode back to RUNMODE_RUN_ROBOT

I will then run this:
robot.setSpeed(speed_linear=LINEAR_SPEED / speed_modifier, speed_joints=JOINT_SPEED / speed_modifier)
robot.MoveJ(goal, blocking=True)
robot.setSpeed(speed_linear=globals_instance.LINEAR_SPEED, speed_joints=globals_instance.JOINT_SPEED)


I'm not particularly sure what could be causing the 3 different sets of issues I am experiencing. Maybe this could somehow impact it?

robot.RunInstruction('rq_move_and_wait( 250 )', robolink.INSTRUCTION_CALL_PROGRAM) #254 is closed, 0 is open.

[EvanPeat]

Hello,

Is there any update on this?