movej <wait=True> not working

[danielghirst]

Versions: Python 3.8.10 urx 0.11.0 URSoftware 5.1.0.40195

Issue: movej does not wait when I set wait to wait = True.

Code snippet:

def goto_loading_position(robot):
    pos = ((2*pi), (1.117011), (-1.797689), (-0.8726646), (0.5*pi), (2*pi)) #works with testing mag cal
    vel = 0.5
    acc = 0.5

    #Goto position
    try:
        robot.movej(pos, acc=acc, vel=vel, wait=True, relative=False, threshold=None)
    except Exception as e:
        print("Robot could not execute goto loading position (emergency stop for example), do something")
        print("\nException:", e, "\n")

./robot_loading_position_cmd.py tried 11 times to find a packet in data, advertised packet size: -2, type: 3 Data length: 68 tried 11 times to find a packet in data, advertised packet size: -2, type: 3 Data length: 1092 tried 11 times to find a packet in data, advertised packet size: -2, type: 3 Data length: 1444 Robot could not execute goto loading position (emergency stop for example), do something

Exception: Robot stopped

It looks like that exception comes from urrobot.py??

if not self.is_running():
     raise RobotException("Robot stopped")

[danielghirst]

Update:

When I change if self._dict["RobotModeData"]["robotMode"] == rmode\ to if self._dict["RobotModeData"]["robotMode"] == 7 \ inside ursecmon.py I no longer have the issue.

[yongpan0715]

Thank you, it is useful, successfully solved my problem