Using Robot Web Services to make a joint move

Developer Tools
1

Hello,

We have had good success using RWS mostly because of the abb-robot-client Python library. It has been a life saver.

Now, I am being asked to make joint moves using RWS. Nothing complicated - just move to a position, take some measurements, then move to another, and so on.

Is there a way to this with RWS?

Thanks for your help.

2

Hello there,

Check out this video: https://www.youtube.com/watch?v=YoEUEmNL5s4

3

Thank you for responding Maxim.

I had watched that video before, but the robot never moved to the axis1=900 value that was entered in the parameters. So… I assumed that it would not do what I wanted it to do.

Looking at the documentation here: Robot Web Services: Perform Jogging

there is an “inc-mode“ parameter. The example in your video had it set to “Large”. Maybe that is the reason that it would only move a small amount?

I don’t have access to an ABB robot right now, but I will try that and see if it will go all the way to the requested joint values.

image
image381×305 27.5 KB

Thanks again for your help.

4

900 may be outside the joint limit. Try some value between -pi to pi?

5

I did tried with the function and it seems like robot only move in linear motion instead of joint mode.