Differences

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--- ur10_robot_arm:drawing_with_the_ur10 [2021/02/25 08:19] – [Send program to robot] formlab
+++ ur10_robot_arm:drawing_with_the_ur10 [2021/03/03 01:15] (current) – [Troubleshooting] formlab
@@ Line 5: / Line 5: @@
   - Select all
   - ''Path > Object to Path''
-  - Save as. Choose ''Plain SVG''. Optional: open saved file in text editor to check that there are only ''<path>'' objects present.
+  - Save as. Choose ''Plain SVG''.
+    - //Optional: open saved file in text editor to check that there are only ''<path>'' objects present.//
+    - //Keep the filename simple and avoid spaces.//
 ===== Prepare the canvas =====
-  * Make sure to have a mostly flat surface. The orientation doesn't matter, as long as the arm can reach it.
+  * **Flat surface**: Make sure to have a mostly flat surface. The orientation doesn't matter, as long as the arm can reach it.
-  * The surface should be fixed well, so it doesn't accidentally move.
+  * **Immovable surface**: The surface should be fixed well, so it doesn't accidentally move.
-  * Measure the width and height of the image area on the surface. Keep this value for later.
+  * **Measure** the width and height of the image area on the surface. Keep this value for later.
 ===== Setup the physical robot =====
@@ Line 32: / Line 34: @@
   - Right click the python script and choose ''Edit Python Script''. The VSCodium text editor starts up and opens the python script.
-  - Change the variable ''SIZE_BOARD'' to the size you would like the drawing to be (in millimeters).
+  - Change the variable ''SIZE_BOARD'' to the size you would like the drawing to be (in millimeters). <code python> SIZE_BOARD = [460, 310] #Set the size of the canvas (in mm) </code>
-  - Change the variable ''IMAGE_FILE'' to the name of the SVG image. (for example: test-image.svg)
+  - Change the variable ''IMAGE_FILE'' to the filename of the SVG image. <code python> IMAGE_FILE = 'test-image.svg' </code>
   - Press ctrl + s to save the file and go back to RoboDK. //Keep in mind that this file is updated in RoboDK, but not in the file explorer. Save the changes to the file explorer if you want to keep them for the future.//
@@ Line 54: / Line 56: @@
   * P3 should be somewhere on the canvas to the right.
-//Tip: if you're using a spring-loaded pen holder, add a spacer to the spring, so the pen is retracted a little bit. Then almost-touch the canvast with the pen when probing.
+//Tip: if you're using a spring-loaded pen holder, add a spacer to the spring, so the pen is retracted a little bit. Then almost touch the canvast with the pen when probing. Remove the spacer before drawing.
 //
   - **Move the physical robot** to one of the 3 points
@@ Line 80: / Line 82: @@
+===== Troubleshooting =====
+  * **After 'Run Python script', nothing happens**. On the left bottom of the RoboDK screen 'Running python script' is indicated. This means something is wrong with the code. Click 'Edit Python Script' and try to break the code into blocks to find the bug.
+    * Use the line <code python> RDK.ShowMessage("message", popup = True) </code> to open a popup and pause the execution of the code at that point.
+    * To display variables, use this method: <code python> msg_str = "message: %s" % variable </code> and use the string in ShowMessage like so: <code python> RDK.ShowMessage(msg_str, popup = True) </code>
+    * It might help to temporary load an older version of the python script, and loading the new one again after that. It sounds impossible, but it helped here before...