(Robot Web Services) Set Robo Target Position does nothing

Chefo

Hey, I'd like to remotely set the RobTarget through a Unity application. I've been able to set mechanical units and perform jogging, but submitting a "Set Robo Target Position" request does nothing; the request is accepted, returns a 204 and it is registered by the controller, but there are no changes in my station.

I might be misunderstanding the purpose of that request in which case I want to ask, how can I set the position and orientation of only the robot's tool via Robot Web Services? And  do I need to do anything specific within the VirtualFlexPendant before I send the request? I want to set the XYZ and orientation of the tool and have the rest of the joints adjust to the new position as if I were performing a Linear Jog from RS.

To clarify, I'm just trying the request in Postman for now so I haven't modified it in any way. I'm just submitting the example curl request with different values. I'm also working with a VC and logging in as a default user.

davidmalott

Yep - I spent a lot of time getting to a 204 and it does nothing for me, either. I had assumed it would move the robot to the specified target...

benjaminFSK

I am working on the same problem. I log in, request mastership for motion, set the tool for the mechunit, and set the position-target or joint-target. Nothing happens.

When doing this, I get the same logs in the events list of RS as when performing a goTo Location from inside the Wizard of my virtual Flex Pendant:
10289 Tool has been changed
10291 GoTo position

I would be happy to get any information about how to move the robot to a specific location using RWS.

benjaminFSK

Here is an example how you can move the robot to a specific location via RWS:

Request motion mastership:
curl --request POST \

  --url https://localhost/rw/mastership/motion/request \

  --header 'Accept: application/json' \

  --header 'Content-Type: application/x-www-form-urlencoded;v=2.0' \

 

Set jog-mode of your mechunit:
curl --request POST \

  --url https://localhost/rw/motionsystem/mechunits/ROB_1 \

  --header 'Accept: application/xhtml+xml;v=2.0' \

  --header 'Content-Type: application/x-www-form-urlencoded;v=2.0' \

  --data jog-mode=GoToPos

 

Set position target:

curl --request POST \

  --url https://localhost/rw/motionsystem/position-target \

  --header 'Content-Type: application/x-www-form-urlencoded;v=2.0' \

  --header 'accept: application/json' \

  --data pos-x=530.0 \

  --data pos-y=30.0 \

  --data pos-z=600.0 . . . . . (all parameters)

 

Get change count from motionsystem:

curl --request GET \

  --url https://localhost/rw/motionsystem/ \

  --header 'accept: application/xhtml+xml;v=2.0' \

 

Start jogging (add current change count to parameters):

curl --request POST \

  --url https://localhost/rw/motionsystem/jog \

  --header 'Content-Type: application/x-www-form-urlencoded;v=2.0' \

  --header 'accept: application/json' \

  --data axis1=200 \

  --data axis2=200 \

  --data axis3=200 \

  --data axis4=200 \

  --data axis5=200 \

  --data axis6=200 \

  --data ccount=13 \

  --data inc-mode=Large

 

Reset jogging:

curl --request POST \

  --url https://localhost/rw/motionsystem/jog \

  --header 'Content-Type: application/x-www-form-urlencoded;v=2.0' \

  --header 'accept: application/json' \

  --data axis1=0 \

  --data axis2=0 \

  --data axis3=0 \

  --data axis4=0 \

  --data axis5=0 \

  --data axis6=0 \

  --data ccount=13 \

  --data inc-mode=Large