How is it possible to connect signal of robot program for gripper with post processing to UR? I used port 100 in visual component but while I wanted to run in UR it directs me to line of code “set_configurable_digital_out(100,True)” which leads to invalid port number!!!?
I would guess that UR doesn’t have 100 digital output ports.
I tried 0 and 1 port too,it didn’t work.
I’ve tested this with the PolyScope virtual controller and it seems that you can use port number 0-7. Port numbers equal to 8 and above do not exist.
It’s strange that it doesn’t work in your case. Here is the code I was using:
def Untitled(): movej([0.000000,-2.515154,2.055373,-1.111016,-1.570851,0.000000],v=6.283185) movej([0.000000,-1.770658,2.490789,-2.290928,-1.570851,0.000000],v=6.283185) set_configurable_digital_out(0,True) set_configurable_digital_out(1,True) set_configurable_digital_out(2,True) set_configurable_digital_out(3,True) set_configurable_digital_out(4,True) movel(p[-0.423447, -0.163891, 0.600000, 2.221441, 2.221441, -0.000000],v=1.000000) set_configurable_digital_out(5,True) set_configurable_digital_out(6,True) movej([-0.000000,-2.515154,2.055374,-1.111016,-1.570851,-0.000000],v=6.283185) set_configurable_digital_out(7,True) set_configurable_digital_out(8,True) # after removing this statement no error will occur anymore end #Untitled Untitled()
I tried the code and unfortunately it did not work.
Have you removed the following line?
I’ve left the line in on purpose for you to be able to reproduce the error or fix it yourself by removing it, as I marked the line with a comment.
yes,i did remove it but no changes.