Create Linear Motion Statement in Python

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This topic contains 2 replies, has 2 voices, and was last updated by  Fredrik 1 year, 5 months ago.

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  • #1807


    I’m trying to create linear motion statements with python.

    It creates the statements in the program with correct position and everything (tool, base, etc), but when I double click on the statement the robot doesn’t move to its location.

    Below is part of the code I’m using, what is wrong?


    Program = executor.Program
    Routine = Program.findRoutine(‘XCAL’)
    if Routine != None:
    Routine = Program.addRoutine(‘XCAL’)

    …… some other code here…….

    count += 1
    sName = “XCAL%d” % count
    Statement = Routine.addStatement(VC_STATEMENT_LINMOTION)
    Statement.Base = Base1
    Statement.Tool = controller.Tools[0]
    PositionFrame = Statement.createPosition(sName)
    PositionFrame.PositionInReference = TargetPos



    Hi Fredrik,

    you don’t have to create a new position. When adding a new LIN statement the list ‘Positions’ has already an item that have to be used for the target definition.

    Statement.Tool = controller.Tools[0]
    PositionFrame = Statement.Positions[0]
    PositionFrame.PositionInReference = TargetPos    ….





    <p style=”text-align: left;”>Hi Ralle,</p>
    <p style=”text-align: left;”>Thanks for your comment, now it works like a charm</p>
    <p style=”text-align: left;”>BR</p>
    <p style=”text-align: left;”>Fredrik</p>

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