uArm Serial No.: (the No. at the bottom of each uArm reading “UARM-XXXXXXXXXX”)
Firmware Version: 2.2.1
Operation System: Win(10)
uArm Controlling Method: Python - pyuarm 2.2.5.3
Given code:
import pyuarm
import time
import math
speed = 300
def uarm_sweep_x(spd):
for x in range(-10, 10):
uarm.set_position(x*10, 150, 150,spd)
time.sleep(1)
if name == “main”:
uarm = pyuarm.get_uarm()
uarm.set_buzzer(1500,.2)
uarm_sweep_x(speed)
uarm.set_buzzer(1500,.2)
I had to add the time.sleep(1) or I get no motion at all. With this delay I get error messages:
pyuarm - INFO - pyuarm version: 2.2.5.3
pyuarm - INFO - Connecting from port - COM4…
pyuarm - INFO - Connected…
pyuarm - INFO - Firmware Version: 2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#9 G0 X-100 Y150 Z150 F300\n’, received error from robot:
pyuarm - ERROR - Communication| ERROR: send b’#11 G0 X-90 Y150 Z150 F300\n’, received error from robot: $10 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#13 G0 X-80 Y150 Z150 F300\n’, received error from robot: $12 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#15 G0 X-70 Y150 Z150 F300\n’, received error from robot: $14 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#17 G0 X-60 Y150 Z150 F300\n’, received error from robot: $16 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#19 G0 X-50 Y150 Z150 F300\n’, received error from robot: $18 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#21 G0 X-40 Y150 Z150 F300\n’, received error from robot: $20 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#23 G0 X-30 Y150 Z150 F300\n’, received error from robot: $22 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#25 G0 X-20 Y150 Z150 F300\n’, received error from robot: $24 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#27 G0 X-10 Y150 Z150 F300\n’, received error from robot: $26 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#29 G0 X0 Y150 Z150 F300\n’, received error from robot: $28 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#31 G0 X10 Y150 Z150 F300\n’, received error from robot: $30 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#33 G0 X20 Y150 Z150 F300\n’, received error from robot: $32 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#35 G0 X30 Y150 Z150 F300\n’, received error from robot: $34 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#37 G0 X40 Y150 Z150 F300\n’, received error from robot: $36 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#39 G0 X50 Y150 Z150 F300\n’, received error from robot: $38 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#41 G0 X60 Y150 Z150 F300\n’, received error from robot: $40 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#43 G0 X70 Y150 Z150 F300\n’, received error from robot: $42 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#45 G0 X80 Y150 Z150 F300\n’, received error from robot: $44 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#47 G0 X90 Y150 Z150 F300\n’, received error from robot: $46 OK V2.2.1
pyuarm - ERROR - Communication| ERROR: send b’#49 M210 F1500 T0.2\n’, received error from robot: $48 OK V2.2.1
Press any key to continue . . .
I am very new to UArm so please forgive my very elementry questions.
The OK from UArm seems to be getting behind the last command sent:
Does the UArm buffer commands I send to it or do I have to wait for it to finish moving before sending the next command? If I have to wait is there a better way to know if it is done besides just waiting with time.sleep?
Also the z plane is very sloped in the y direction and it seems to have a bubble or arch in the x direction
I would greatly appreciate any help you could give. Thanks
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