Path Recording Example

HMI Panel File

record_hmi.hmi

2MB

Open

Robot Program File

# Robot script file

recorded_points = 0
executed_points = 0

recording = False
executing = False

# list to store recorded waypoints
path = make_list(500, p[-0.190, -0.610, 0.261, -0.00, 3.12, 0.04])

# record function
def record():
    freedrive_mode()
    recording = True

    recorded_points = 0

    while recording and recorded_points < 500:
        path[recorded_points] = get_actual_tcp_pose()
        sleep(0.2)
        recorded_points = recorded_points + 1
    end
    recording = False

    end_freedrive_mode()
end

# play function
def execute():
    executing = True

    executed_points = 0
    while executing and executed_points < recorded_points:
        pose = path[recorded_points]
        q = get_inverse_kin(pose)
        
        # just an example using plain servo j command
        # t parameter must be changed acordingly to real application scenario
        servoj(q, t=0.2)
        executed_points = executed_points + 1
    end

    executing = False

end

record_task.urp

915B

Open