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Call_Class_IgusRobolink.ipynb

@@ -0,0 +1,116 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "d7bbeddd-7819-43de-98a5-d6a38e8c83ee",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from Class_IgusRobolink import IgusRobolink \n",
+    "import time\n",
+    "    \n",
+    "    \n",
+    "robot = IgusRobolink(\"192.168.3.11\")\n",
+    "robot.connect()\n",
+    "time.sleep(5.0)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "35a72283-7709-4151-a62a-ea1258cdbeda",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robot.enable()\n",
+    "time.sleep(5.0)\n",
+    "    \n",
+    "status = robot.get_status('MotionStatus')\n",
+    "print(status)\n",
+    "if status == 'MotionNotAllowed':\n",
+    "    print(\"Reference now \")\n",
+    "    robot.ReferenceAllJoints()\n",
+    "else:\n",
+    "    robot.SetFlag_ReferenceAllJoints(True)\n",
+    "    \n",
+    "    \n",
+    "time.sleep(2)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "9e28f960-d689-4f46-93c4-75be782bfd4a",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Run relative transformed position\n",
+    "robot.moveo(200,150,150,0,0,0,100)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "bd6cd84a-202b-4717-a2be-2efbe23d836e",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robot.moveo(200,150,16,0,0,0,100)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "659c3d4b-a83f-4a64-93d9-874fc1582dd4",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Run absolute Position\n",
+    "x, y, z    =  250.00,0.0, 260.00\n",
+    "rx, ry, rz = -179.99, -00.00, 180.00\n",
+    "speed = 20\n",
+    "robot.move(x,y,z,rx,ry,rz,speed)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "96d666ae-6c0f-41e2-a288-34e696481c9e",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "robot.disconnect()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "0fb1d2e5-a918-4770-bcbe-724a8b765a1c",
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.12"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}