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+--- Thread: UR5e MoveP online (/Thread-UR5e-MoveP-online)
UR5e MoveP online-Ben1401-06-28-2021
Hi,
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.
RE: UR5e MoveP online-Jeremy-06-28-2021
Hi,
Yes, there is.
You can add a program call named "usemovep" to switch from the default MoveL to the MoveP.
You can add a program call named "usemovel" to switch back to the default behavior.
See picture:
Jeremy
RE: UR5e MoveP online-Ben1401-06-30-2021
Hi Jeremy,
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.
Benedikt
RE: UR5e MoveP online-Jeremy-06-30-2021
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.
Jeremy
RE: UR5e MoveP online-Ben1401-07-02-2021
啊好吧,我明白了。
Well, thank you very much.
Benedikt