Closed TSsimon closed 5 years ago
No, that's not supported.
It's also not how the driver works: trajectories are streamed to the controller. Not generated and then uploaded.
I'm closing this as it's not an actionable issue.
Feel free to keep commenting here of course.
then I misunderstood it. I thought that after the socket connection my trajectories would be sent to the ur and executed locally by a pseudo UR script. After execution the thread would be closed
that would mean I steer the servomotors of the ur directly?
I thought that after the socket connection my trajectories would be sent to the ur and executed locally by a pseudo UR script.
I'm not sure what a "pseudo UR script" is, but there is a small UR script started on the controller and that script accepts position (or velocity) setpoints which it then uses to call appropriate servoj(..)
or speedj(..)
commands with.
After execution the thread would be closed
yes, that does happen. See here for the program that is uploaded.
that would mean I steer the servomotors of the ur directly?
well .. "directly" is a relative term. It's probably as direct as the controller allows/supports.
Hello! I'm about to use the ur_modern_driver to send scheduled trajectory paths to the controller. My question is, is it possible to save the URscript commands locally in the / Programs directory so that I can see it using the Teachpendant?