irb4600 example added

Author: fleischp

Python/examples/COMPAS_RRC_IRB-4600-40_2.55_print.py

@@ -0,0 +1,117 @@
+import compas_rrc as rrc
+from compas.geometry import Frame 
+from compas.geometry import Point
+from compas.geometry import Vector
+
+if __name__ == '__main__':
+
+    # Create Ros Client
+    ros = rrc.RosClient()
+    ros.run()
+
+    # Create ABB Client
+    abb = rrc.AbbClient(ros, '/rob1')
+    print('Connected.')
+
+    # Define robot joints
+    robot_joints_start_position = [0.0, -20.0, 40.0, 0.0, -20.0, 0.0]
+    robot_joints_end_position = [0.0, -30.0, 50.0, 0.0, -20.0, 0.0]
+
+    # Define print frames x 
+    frame_print_start_X = Frame(Point(750.000, 250.000, -0.000), Vector(-1.000, 0.000, 0.000), Vector(0.000, 1.000, 0.000))
+    frame_print_end_X = Frame(Point(250.000, 250.000, -0.000), Vector(-1.000, 0.000, 0.000), Vector(0.000, 1.000, 0.000))
+
+    # Define print frames x
+    frame_print_start_Y = Frame(Point(750.000, 350.000, -0.000), Vector(-1.000, 0.000, 0.000), Vector(0.000, 1.000, 0.000))
+    frame_print_end_Y = Frame(Point(250.000, 350.000, -0.000), Vector(-1.000, 0.000, 0.000), Vector(0.000, 1.000, 0.000))
+
+    # Define print frames x
+    frame_print_start_Z = Frame(Point(750.000, 450.000, -0.000), Vector(-1.000, 0.000, 0.000), Vector(0.000, 1.000, 0.000))
+    frame_print_end_Z = Frame(Point(250.000, 450.000, -0.000), Vector(-1.000, 0.000, 0.000), Vector(0.000, 1.000, 0.000))
+
+    # Define external axis
+    external_axis_dummy = []
+
+    # Select tool and print output
+    print_tool = 't_RRC_Tool_Z'
+    print_signal = 'do_Z'
+
+    # Select print path
+    frame_print_start = frame_print_start_Z
+    frame_print_end = frame_print_end_Z
+
+    # Define speed 
+    speed = 800
+    speed_print = 150 
+
+    # Set Acceleration
+    acc = 100  # Unit [%]
+    ramp = 100  # Unit [%]
+    abb.send(rrc.SetAcceleration(acc, ramp))
+
+    # Set Max Speed
+    override = 100  # Unit [%]
+    max_tcp = 2500  # Unit [mm/s]
+    abb.send(rrc.SetMaxSpeed(override, max_tcp))
+
+    # Reset signals 
+    abb.send(rrc.SetDigital('do_X',0))
+    abb.send(rrc.SetDigital('do_Y',0))
+    abb.send(rrc.SetDigital('do_Z',0))
+
+    # Set tool
+    abb.send(rrc.SetTool(print_tool))
+
+    # Set work object
+    abb.send(rrc.SetWorkObject('ob_RRC_Workplace'))
+
+    # User message -> basic settings send to robot
+    print('Tool, Wobj, Acc and MaxSpeed sent to robot')
+
+    # Stop task user must press play button on the FlexPendant (RobotStudio) before robot starts to move
+    abb.send(rrc.PrintText('Press Play to move.'))
+    abb.send(rrc.Stop())
+
+    # Move robot to start position
+    done = abb.send_and_wait(rrc.MoveToJoints(robot_joints_start_position, external_axis_dummy, speed, rrc.Zone.FINE))
+
+    # User message and input
+    input('Robot start position reached, press any key to start the print.')
+
+    # Move to print start
+    abb.send(rrc.MoveToFrame(frame_print_start, speed, rrc.Zone.FINE))
+
+    # Start watch
+    done = abb.send_and_wait(rrc.StartWatch())
+
+    # Start print
+    abb.send(rrc.SetDigital(print_signal, 1))
+
+    # Print path
+    abb.send(rrc.MoveToFrame(frame_print_end, speed_print, rrc.Zone.FINE, rrc.Motion.LINEAR))
+
+    # End print
+    abb.send(rrc.SetDigital(print_signal, 0))
+
+    # Stop watch
+    done = abb.send_and_wait(rrc.StopWatch())
+
+    # Read watch
+    future = abb.send(rrc.ReadWatch())
+
+    # Move robot to end position
+    abb.send(rrc.MoveToJoints(robot_joints_end_position, external_axis_dummy, speed, rrc.Zone.FINE))
+
+    # Read and print printing time
+    watch_time = future.result(timeout=3.0)
+    print('Print Time [s] = ', watch_time)
+
+    # Print Text
+    done = abb.send_and_wait(rrc.PrintText('Compas_RRC Example finish.'))
+
+    # End of Code
+    print('Finished')
+
+    # Close client
+    ros.close()
+    ros.terminate()