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SintefManufacturing / python-urx

Python library to control a robot from 'Universal Robots' http://www.universal-robots.com/
GNU Lesser General Public License v3.0
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Issue using movel, "Position change too large" #15

Open waspinator opened 8 years ago

waspinator commented 8 years ago

Thanks for working on this library, it makes programming my UR5 much easier.

I'm having an issue when I try use the movel() command. I get a dialog showing up on my teach pendant:

Security Stopped SECURITY CHECK: Position change too large

I can move the robot without issue using movej. I tried setting a pose that was 1-2mm away from its current location, and it still displays the same error.

I tried running /examples/simple.py, and I get the same error.

I've got an older CB2 model with PolyScope and URControl 1.8.23117.

Any ideas?

Athenachc commented 3 years ago

I think you should double-check the data that you input into "movel". The 6 variables of the pose for movel are (x, y, z, rx, ry, rz) instead of the angles of the joints. Only "movej" need the angles of the joints, not movel.