Hi!

I want to generate from the UR10 a txt file with information about the different measures, for example:

Hole 702: OK
Hole 79: NOK (bad precision)
...

Is that possible? If not, which would be the best option? I understand that I need a script (Matlab, C, LabView...) with a TCP server to receive the information from the cobot and then generate the txt. But I have to send the strings one by one?

I mean, I want to do a complete cycle with the cobot (taking different measures) and generate a txt with the results.

Thanks!

We used to do this. Yes you need to send the strings separately. What we would do is send them in a background thread by raising a flag, setting a variable true for instance, at the end of the cycle. If the data send took longer than the time before I needed the variables again I would quickly assign them to another variable such as prev_hole_status. The other thing to remember is you cannot concatenate strings on the robot so you may need to send a key and then the value and handle putting it back together on the server. Also, we found having a slight delay between sends of 50-100 ms would keep them in the order that we sent. Otherwise sometimes they'll come in jumbled. 

Thanks, @matthewd92 Solved. Finally I used LabView to receive and create a .txt file with all the strings sent by the cobot. Now I can receive multiple strings over TCP/IP and the function "socket_send_string" with the results of my measures.

You're welcome. 

Hi!
I'm also using labview as server  and UR10 as a client so my robot can send data to labview but i can't send data from labview to Robot so i hope that somebody give me a solution for that

Generally to send data you will have the robot request the data and then wait for the response from the server so something like this:

# Example of asking camera to trigger and send results
socket_send_string("trigger", "camera")
results = socket_read_string("camera") #has two second timeout by default, there are other methods for other data types such as float, binary integer, byte list, etc

Hi Mathew, 

can you give me an exemple from labview because i used the command " Socket_read_ascii_float(6)" to recieve data from server to client

I have never used Labview to control a robot so unfortunately I cannot give you that.

@matthewd92
Hi Matthew,

I am using the UR10 socket communication to control thee motors by sending string (socket_send_string()) to to PC. This works great but the problem I am having is the every time I send a string I open and close the socket connection. Is there a way where I can avoid open and close connection every time I send string? I want to open the socket connection at the beginning of the program and close the socket at the end of program not every time when I send string.

example of my current code:

before Program

• open=socket_open("IPaddress",port) 

• socket_send_string("motor1:on")  
• close=socket.close()
• open=socket_open("IPaddress",port) 
• socket_send_string("motor2:on")
  
• close=socket.close()
• open=socket_open("IPaddress",port) 
• socket_send_string("motor3:on")
• close=socket.close()

Just open it at the beginning, the third argument can be a port name as well which you can then use in your send and read commands to make sure they are using the correct port name.