[jccourtney]

Albert,


I created a side by side video of the same program being executed by the built-in GUI program instructions and the C++ api. The videos are synchronized to start when both robots begin moving. As you can see in the video, the GUI program simulation is finished well before the C++ api simulation is complete. Additionally, it appears the C++ program is so slow that it is skipping program steps, such as speed changes and move instructions.

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Also, see attached code. The RDK file is too large to post (157 MB)

Code:

#include
#include
#include
#include
#include "UR10Simulate.h"


UR10Simulate::UR10Simulate(){
this->RDK = NULL;
}


//Method Name: UR10Simulate constructor
//Goals: Pass the current instance of RDK and configure variables for all station items
//used with this simulation
//Input: RoboDK_API::RoboDK* RDK_instance
//Output: None
//Steps: Initialize all members to default values
UR10Simulate::UR10Simulate(RoboDK_API::RoboDK* RDK_instance){
//Pointer to RoboDK
this->RDK = RDK_instance;

//Pointer to Active Robot
this->active_robot = RDK->getItem("UR10e");

//Pointer to Pick/Place objects
this->i_2084m61_blade = RDK->getItem("2084M61");
this->i_2084m61_cup = RDK->getItem("2084M61 VPA TOOL B 10-22-19");

//Pointer to Reference Frames
this->r_input_tray = RDK->getItem("M61 Input Tray");
this->r_input_tray_active = RDK->getItem("Active Input Bin");
this->r_output_tray = RDK->getItem("M61 Output Tray");
this->r_output_tray_active = RDK->getItem("Active Output Bin");
this->r_stationary_gripper = RDK->getItem("Stationary Gripper");

//Pointer to Standby Positions
this->p_home = RDK->getItem("Home");
this->p_input_cup_standby = RDK->getItem("Input Cup Standby");
this->p_input_blade_standby = RDK->getItem("Input Standby");
this->p_output_blade_standby = RDK->getItem("Output Standby");
this->p_stationary_cup_standby = RDK->getItem("Stationary Cup Standby");
this->p_stationary_blade_standby = RDK->getItem("Stationary Blade Standby");

//Pointer to Tray Cup Targets
this->p_tray_cup_0 = RDK->getItem("Cup Pick 0");
this->p_tray_cup_1 = RDK->getItem("Cup Pick 1");
this->p_tray_cup_2 = RDK->getItem("Cup Pick 2");

//Pointer to Tray Blade Targets
this->p_tray_blade_0 = RDK->getItem("Blade Pick 0");
this->p_tray_blade_1 = RDK->getItem("Blade Pick 1");
this->p_tray_blade_2 = RDK->getItem("Blade Pick 2");

//Pointer to Stationary Gripper Cup Targets
this->p_stationary_cup_0 = RDK->getItem("Stationary Cup 0");
this->p_stationary_cup_1 = RDK->getItem("Stationary Cup 1");
this->p_stationary_cup_2 = RDK->getItem("Statopmaru Cup 2");

//Pointer to Stationary Gripper Blade Targets
this->p_stationary_blade_0 = RDK->getItem("Stationary Blade 0");
this->p_stationary_blade_1 = RDK->getItem("Stationary Blade 1");
this->p_stationary_blade_2 = RDK->getItem("Stationary Blade 2");

//Pointer to Blast Joint targets
this->p_blast_position = RDK->getItem("Blast Position");
this->p_blast_position_finish = RDK->getItem("Blast Position Finish");

//Pointer to Display Tools
this->t_cup_closed_airfoil_closed = RDK->getItem("DGATC Cup Closed Airfoil Closed");
this->t_cup_closed_airfoil_open = RDK->getItem("DGATC Cup Closed Airfoil Open");
this->t_cup_open_airfoil_closed = RDK->getItem("DGATC Cup Open Airfoil Closed");
this->t_cup_open_airfoil_open = RDK->getItem("DGATC Cup Open Airfoil Open");
this->t_stationary_gripper_closed = RDK->getItem("Stationary Gripper Closed");
this->t_stationary_gripper_open = RDK->getItem("Stationary Gripper Open");

//Pointer to Active Tools
this->t_airfoil_tool = RDK->getItem("Airfoil Tool");
this->t_cup_tool = RDK->getItem("Cup Tool");

//Program Variables
this->current_part = 0;
this->part_count = 0;
this->part_count_x = 1;
this->part_count_y = 1;


}

UR10Simulate::~UR10Simulate(){

}

//Method Name: SetTraySize
//Goals: Establish Size of Tray
//Input: int x_size, int y_size, int count
//Output: None
//Steps: Set part_count_x, part_count_y, and part_count equal to inputs
void UR10Simulate::SetTraySize(int x_size, int y_size, int count){
this->part_count_x = x_size;
this->part_count_y = y_size;
this->part_count = count;
}


//Method Name:
//Goals:
//Input:
//Output:
//Steps:
void UR10Simulate::GenerateObjects(){

}


//Method Name:
//Goals:
//Input:
//Output:
//Steps:
void UR10Simulate::ClearObjects(){

}


//Method Name:
//Goals:
//Input:
//Output:
//Steps:
void UR10Simulate::MoveActiveReferenceFrames(){

}


//Method Name:
//Goals:
//Input:
//Output:
//Steps:
void UR10Simulate::RunProgram(){
if(RDK->Connected()){
RDK->setSimulationSpeed(1.0);
//Reset object displays and active tool
t_cup_open_airfoil_open.setVisible(true);
t_cup_closed_airfoil_open.setVisible(false);
t_cup_open_airfoil_closed.setVisible(false);
t_cup_closed_airfoil_closed.setVisible(false);
t_stationary_gripper_open.setVisible(true);
t_stationary_gripper_closed.setVisible(false);
active_robot.setPoseTool(t_cup_tool);

//Move Home
//active_robot.setSpeed(100, 1200, 30, 80);
active_robot.setRounding(20);
//active_robot.MoveJ(p_home);

//For each part, do the following
//while(current_part < part_count){


//Move to input area to pick cup-blade assembly
active_robot.setPoseTool(t_cup_tool);
active_robot.setPoseFrame(r_input_tray_active);
active_robot.setSpeed(600, 1200, 120, 80);
active_robot.MoveJ(p_input_blade_standby);
active_robot.MoveJ(p_input_cup_standby);
active_robot.MoveJ(p_tray_cup_2);
active_robot.setSpeed(100, 1200, 120, 80);
active_robot.MoveL(p_tray_cup_1);
//active_robot.setSpeed(100, 600, 60, 80);
active_robot.MoveL(p_tray_cup_0);

//Pick Cup-Blade assembly from input tray
active_robot.Pause(0.25);
t_cup_open_airfoil_open.setVisible(false);
t_cup_closed_airfoil_open.setVisible(true);
active_robot.Pause(0.25);

//Move back to Input Cup Standby area
active_robot.MoveL(p_tray_cup_1);
//active_robot.setSpeed(300, 600, 60, 80);
active_robot.MoveL(p_tray_cup_2);
active_robot.setSpeed(600, 1200, 120, 80);
active_robot.MoveJ(p_input_cup_standby);

//Move to Stationary gripper to transfer cup-blade assembly
active_robot.setPoseFrame(r_stationary_gripper);
active_robot.MoveJ(p_stationary_cup_standby);

active_robot.MoveJ(p_stationary_cup_2);
active_robot.setSpeed(100, 1200, 120, 80);
active_robot.MoveL(p_stationary_cup_1);

active_robot.MoveL(p_stationary_cup_0);

//Transfer Cup-Blade assembly to stationary gripper
active_robot.Pause(0.25);
t_cup_open_airfoil_open.setVisible(true);
t_cup_closed_airfoil_open.setVisible(false);
t_stationary_gripper_open.setVisible(false);
t_stationary_gripper_closed.setVisible(true);
active_robot.Pause(0.25);

//Move to stationary blade standby position
active_robot.MoveL(p_stationary_cup_1);
//active_robot.setSpeed(300, 600, 60, 80);
active_robot.MoveL(p_stationary_cup_2);
active_robot.setSpeed(600, 1200, 120, 80);
active_robot.MoveJ(p_stationary_cup_standby);

//Move to stationary blade picking position
active_robot.setPoseTool(t_airfoil_tool);
active_robot.MoveJ(p_stationary_blade_standby);
active_robot.MoveJ(p_stationary_blade_2);
active_robot.setSpeed(100, 1200, 120, 80);
active_robot.MoveL(p_stationary_blade_1);

active_robot.MoveL(p_stationary_blade_0);

//Pull Blade from Cup-Blade assembly
active_robot.Pause(0.25);
t_cup_open_airfoil_open.setVisible(false);
t_cup_open_airfoil_closed.setVisible(true);
active_robot.Pause(0.25);

//Move to stationary blade standby position
active_robot.MoveL(p_stationary_blade_1);
//active_robot.setSpeed(300, 600, 60, 80);
active_robot.MoveL(p_stationary_blade_2);
active_robot.setSpeed(600, 1200, 120, 80);
active_robot.MoveJ(p_stationary_blade_standby);

//Clean Blade
active_robot.setRounding(0);
active_robot.MoveJ(p_blast_position);
active_robot.Pause(1);
active_robot.setSpeed(300, 1200, 18, 80);
active_robot.MoveJ(p_blast_position_finish);
//active_robot.setRounding(20);

/ /回到静止叶片备用位置
active_robot.setSpeed(600, 1200, 120, 80);
active_robot.MoveJ(p_stationary_blade_standby);

//Move to stationary cup position
active_robot.setPoseTool(t_cup_tool);
active_robot.MoveJ(p_stationary_cup_standby);

active_robot.MoveJ(p_stationary_cup_2);
active_robot.setSpeed(100, 1200, 120, 80);
active_robot.MoveL(p_stationary_cup_1);
active_robot.MoveL(p_stationary_cup_0);

//Pick cup from stationary gripper
active_robot.Pause(0.25);
t_cup_open_airfoil_closed.setVisible(false);
t_cup_closed_airfoil_closed.setVisible(true);
t_stationary_gripper_open.setVisible(true);
t_stationary_gripper_closed.setVisible(false);
active_robot.Pause(0.25);

//Move to stationary cup standby position
active_robot.MoveL(p_stationary_cup_1);
//active_robot.setSpeed(300, 600, 60, 80);
active_robot.MoveL(p_stationary_cup_2);
active_robot.setSpeed(600, 1200, 120, 80);
active_robot.MoveJ(p_stationary_cup_standby);


//Move to input tray cup position again to place cup back into input tray
active_robot.setPoseFrame(r_input_tray_active);
active_robot.MoveJ(p_input_cup_standby);
active_robot.MoveJ(p_tray_cup_2);
active_robot.setSpeed(100, 1200, 120, 80);
active_robot.MoveL(p_tray_cup_1);
active_robot.MoveL(p_tray_cup_0);

//Place cup in input tray
active_robot.Pause(0.25);
t_cup_closed_airfoil_closed.setVisible(false);
t_cup_open_airfoil_closed.setVisible(true);
active_robot.Pause(0.25);

//Move to input blade standby position
active_robot.MoveL(p_tray_cup_1);
//active_robot.setSpeed(300, 600, 60, 80);
active_robot.MoveL(p_tray_cup_2);
active_robot.setSpeed(600, 1200, 120, 80);
active_robot.MoveJ(p_input_cup_standby);
active_robot.MoveJ(p_input_blade_standby);


/ /移动到输出叶片步的地方n
active_robot.setPoseTool(t_airfoil_tool);
active_robot.setPoseFrame(r_output_tray_active);
active_robot.MoveJ(p_tray_blade_2);
active_robot.setSpeed(100, 1200, 120, 80);
active_robot.MoveL(p_tray_blade_1);
active_robot.MoveL(p_tray_blade_0);

//Place blade in output tray
active_robot.Pause(0.25);
t_cup_open_airfoil_closed.setVisible(false);
t_cup_open_airfoil_open.setVisible(true);
active_robot.Pause(0.25);

//Move to output blade standby postion
active_robot.MoveL(p_tray_blade_1);
//active_robot.setSpeed(300, 600, 60, 80);
active_robot.MoveL(p_tray_blade_2);
active_robot.setSpeed(600, 1200, 120, 80);
active_robot.MoveJ(p_output_blade_standby);

//}
//Move back to Home
//active_robot.setSpeed(100, 1200, 30, 80);
//active_robot.setRounding(20);
//active_robot.MoveJ(p_home);

}
}




//Method Name:
//Goals:
//Input:
//Output:
//Steps: