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Script execution

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gac-S_Changer
2017-02-24 15:14:59 +01:00
parent ebff6bee09
commit b40a3ebd38
1 changed files with 9 additions and 0 deletions
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9
script/RobotTCP.py
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@@ -238,7 +238,16 @@ class RobotTCP(TcpDevice, Stoppable):
def get_joint_forces(self):
robot_tcp.evaluate("getJointForce(arr)")
return robot_tcp.get_float_arr(6)
def movej(self, joint_or_point, tool, desc):
return self.eval_int("movej(" + joint_or_point + ", " + tool + ", " + desc +")")
def movel(self, point, tool, desc):
return self.eval_int("movel(" + point + ", " + tool + ", " + desc +")")
def movec(self, point_interm, point_target, tool, desc):
return self.eval_int("movec(" + point_interm + ", " + point_target + ", " + tool + ", " + desc +")")
#Tool
#This function can timeout since it synchronizes move.