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torayeff / fanucpy

Python Interface for FANUC robots
Apache License 2.0
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Joint velocities and accelerations #26

Closed juhannc closed 1 year ago

juhannc commented 1 year ago

Is it possible, to get the current joint velocities and accelerations similar to robot.get_curjpos? Is there maybe a custom command one can send or a routine one can define?

Thank you

torayeff commented 1 year ago

@juhannc not implemented at this point. But if you know which system variable holds the acceleration and velocity value, you can write a wrapper.

juhannc commented 1 year ago

@torayeff thank you for the info! I'll try and see if I can read the data and extend the package. Closing this for now

gavanderhoorn commented 1 year ago

Access to dynamics and related state information is just not something that's really readily available on Fanucs. Additionally, the low rate at which the Karel VM is running would lead to rather noisy data in any case. Especially the higher derivatives -- and that's without the overhead of network communication, which would make things even less deterministic (jittery).

Other robot brands might be easier to work with.

Edit: to clarify, I'm not saying it's impossible to get this information. Just that it's not easy.

juhannc commented 1 year ago

@gavanderhoorn thanks for the heads-up, appreciate it! Sadly though, using the fanuc wasn't my choice but I'm stuck with it for now :/

gavanderhoorn commented 1 year ago

using the fanuc wasn't my choice but I'm stuck with it for now :/

yes, that's typically how it happens.

If you have the option, try looking into J519 (or: Stream Motion) or R891 (or: High Speed Position Output).

If you do find some system variables that contain (the) information you're interested in, at least one of those options should allow you to retrieve their values at much higher rates and with much less jitter than any Karel program would ever be able to.

juhannc commented 1 year ago

Awesome, thank you! Will look into it!