movel_x
Control robot movement by specifying TCP motion along the X-axis. Provide robot IP address and distance in meters to execute precise linear movement commands for industrial automation.
Instructions
命令指定IP机器人的TCP沿X轴方向移动 IP：机器人地址 distance：移动距离（米）
Input Schema
TableJSON Schema
| Name | Required | Description | Default |
|---|---|---|---|
| ip | Yes | ||
| distance | Yes |
Implementation Reference
- The handler function for the 'movel_x' MCP tool. It connects to the UR robot via IP, retrieves current TCP pose, adjusts the X coordinate by the given distance, executes movel command, confirms completion using movelConfirm helper, and logs/generates a script representation of the command.@mcp.tool() def movel_x(ip: str, distance: float): """命令指定IP机器人的TCP沿X轴方向移动 IP：机器人地址 distance：移动距离（米）""" try: if '连接失败' in link_check(ip): return return_msg(f"与机器人的连接已断开。") pose = robot_list[ip].get_actual_tcp_pose() pose[0] = pose[0] + distance robot_list[ip].movel(pose) time.sleep(1) result = movelConfirm(ip, pose) cmd = (f"def my_program():\n" f" movel(p[{'{:.4f}'.format(pose[0])},{'{:.4f}'.format(pose[1])},{'{:.4f}'.format(pose[2])},{'{:.4f}'.format(pose[3])},{'{:.4f}'.format(pose[4])},{'{:.4f}'.format(pose[5])},],0.5,0.25,0,0)\n" f"end\nmy_program()") logger.info(f"发送脚本:{cmd}") if result == 1: return return_msg(f"命令 {cmd} 已发送，移动完成。") else: return return_msg(f"命令 {cmd} 已发送，移动失败。") except Exception as e: logger.error(f"移动失败: {str(e)}") return return_msg(f"移动失败: {str(e)}")
- src/nonead_universal_robots_mcp/server.py:606-606 (registration)The @mcp.tool() decorator registers the movel_x function as an MCP tool, using the function name 'movel_x' and its type hints/docstring for schema.@mcp.tool()
- Helper function movelConfirm used by movel_x to verify if the linear move has completed successfully within position tolerance.def movelConfirm(ip, pose): """ movel移动的结果确认 1：移动到位 2：移动结束，但是位置不准确 """ loop_flg = True count = 0 while loop_flg: time.sleep(1) current_pose = round_pose(robot_list[ip].get_actual_tcp_pose()) if right_pose_tcp(current_pose, pose): robot_list[ip].robotConnector.DashboardClient.ur_running() running = robot_list[ip].robotConnector.DashboardClient.last_respond if running == 'Program running: false': return 1 else: robot_list[ip].robotConnector.DashboardClient.ur_running() running = robot_list[ip].robotConnector.DashboardClient.last_respond if running == 'Program running: true': '''尚未移动完成''' continue else: '''移动完成''' count = count + 1 if count > 5: return 2
- Helper function round_pose used indirectly via movelConfirm to round pose coordinates for comparison.def round_pose(pose): """给坐标取近似值，精确到三位小数""" pose[0] = round(pose[0], 3) pose[1] = round(pose[1], 3) pose[2] = round(pose[2], 3) pose[3] = round(pose[3], 3) pose[4] = round(pose[4], 3) pose[5] = round(pose[5], 3) return pose
- Helper function right_pose_tcp used by movelConfirm to check if actual TCP pose matches target within 10mm tolerance.def right_pose_tcp(current_pose_1, pose): """tcp位置是否一致的校验，这里允许10mm的误差""" if pose[0] + 0.010 >= current_pose_1[0] >= pose[0] - 0.010: if pose[1] + 0.010 >= current_pose_1[1] >= pose[1] - 0.010: if pose[2] + 0.010 >= current_pose_1[2] >= pose[2] - 0.010: return True return False