使用python socket发送cmd_script指令控制机器人
以Movel指令为例:
import socket
# IP+PORT
HOST = "192.168.1.150" # UR5的ip地址
PORT = 30003 # UR5的端口号30003(125HZ)
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server.connect((HOST, PORT))
x, y, z = -0.7141, 0, 0.555, 3.09
rx, ry, rz = 2.0, -2.343
# movel直线移动;p[x, y, z, rx, ry, rz] 与示教器相同的6D姿态
cmd_data = b"movel(p[x, y, z, rx, ry, rz], a=0.5, v=0.4)\n"
server.send(cmd_data)
server.close()
Notes:send发送的数据格式为bytes型,需要b’str’