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4.9.2 Demo Scripts
The following section details the demo scripts provided with the driver package.
pick_and_place_demo_with_subprograms.script is a demo script for pick and place applications using provided subprograms. The script uses
subprograms included in the package such as , , etc.rq_set_force rq_set_speed
The script uses and as speed and force parameters to be used during the program. They can be modified using values from 0 to 255 rq_speed rq_force
(see section XX).
The script does the following actions in sequence :
Assign initial values to the global variables in the section. Init Variables
Initiate the communication with the Gripper in the section.Before Start
The section contains the commands sent to the Gripper:Robot Program
Activate the Gripper with . SubP_rq_activate_and_wait
Move the robot to a predetermined position
Close the Gripper with .rq_close_and_wait
Watch for object detection status :
If an object is detected, the script moves the robot and opens the Gripper.
If no object is detected, the script prompts a warning.
pick_and_place_demo_async_partial_opening_without_subprograms.script is similar to the previous demo, but without using subprograms. This
demo uses asynchronous commands so that the robot and the Gripper will move at the same time (the previous example had the Gripper and the robot
move separately).
All provided subprograms are identified with the prefix rq_.
Remember that all subprograms will wait for the action to be completed before going to the next step._and_wait
Run with Universal Robots simulator first or make sure that the UR robot work area is totally cleared before running the script, as it will move the
robot.
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