Connection Between the robot,force sensor and Labview

agiakos

Hello everyone,

I am new to the community and to programming in general. I have a UR10 robot and the FTS300 in combination with 2F gripper of Robotiq.
I would like to run a test and connect the robot with the Labview to extract some data.
I want to get a high signal when I am touching the piece I am testing and also to get the time and the distance while I am doing the test.

I know that is really general informations,ut if you can explain to me how I can make the connection,I would be grateful.

Nicholas_Francoeur

Hi @agiakos and welcome to this community!

How are you setup to receive signals with Labview? What URCap version are you using with your gripper and FT Sensor?

Can you explain more what time and distance you are looking for in your application?

agiakos

I am using the latest URcap version, I am planning to drive the robot arm with MoveL(steady speed) and push a joystick to find the neutral point. So my signals will be the position of the robot arm(How much I moved the joystick from the original position to the neutral position) and the output of a potentiometer that gives the neutral point. I just want to know 1)that I am connecting to labview trough the Ethernet cable and there are any settings I need to know? and 2) Through the digital outputs of the control box can I take the robot positions as output and feed it to the labview? 

[Deleted User]

Hi @agiakos

1. Yes, you can communicate with Labview to the Robot controller and FT Sensor  using Ethernet to retrieve or send datas. Information can be find here for the UR: https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/ethernet-socket-communication-via-urscript-15678/

2. To communicate with the FT sensor force via Ethernet you can use the Modbus RTU Serial communication or can access the Data stream on TCP port 63351 via the UR Controller: https://robotiq.com/support/ft-300-force-torque-sensor/downloads-instruction-manual (Ref. Section 4.5: Serial Communication)

3. You can import the TCP position from the Controller and force feedback to create a LabView Program. Look at to this post presenting how to send/collect datas  to a device connected in TCP/IP in Labview: https://forums.ni.com/t5/LabVIEW/TCP-IP-connection-between-PC-and-UR5-Universal-Robot/td-p/3153351

Don't hesitate if you have any questions or concerns,

mariem_werfelli22

i have the same problem i'm trying to communicate with a UR10 Robot using labview i still don't recieve strings from my robot can any one help me ? 

[Deleted User]

Hi Mariem,

All Labview examples we have seen are done with TCP/IP protocol. Maybe you could try to find help locally on TCP/IP protocol? You can also look at LabView Forum where you can find more helps on the software and different ways to test your communication.

Good Luck with your project!

Best regards,

mariem_werfelli22

Hi Nicolas,
thank you for the help this is my attached labview code i did it with TCP/IP protocol.  the host will be the labview program running on a PC, but it could as well have been a Vision camera replying with the data cordinates for the object to send it to the UR10 so my first problem is the communication. 

[Deleted User]

Hi Mariem,

We unfortunately cannot help you with this. We do not have Labview License  and don't program with it. We primarily focus our developing and  integration on Cobots and their programming language.

Good luck,
Nicolas

mariem_werfelli22

Hi nicolas,
thank you very much but i think that you can help me to know how to communicate with my computer i mean if there's a code to use tcp/ip communication feature of the Universal Robots PolyScope user interface. you check my code also(my code is in frensh)

David_Gouffe

Hi, 


You can test your UR program using Socket Test V3.0 .

This UR demo page explains it well.
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/ethernet-socket-communication-via-urscript-15678/

Let me know it there is still a gap to cover between your Labview program and the UR demo code.

Regards,

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David Gouffé

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mariem_werfelli22

hi David, 
thank you the client wich is my UR is able to communicate with my server 

David_Gouffe

You are welcome. 

Enjoy socket communication.

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David Gouffé

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mariem_werfelli22

hi!
I’m trying to establish a data sending via a tcp / ip connection between a robot and a computer But what I notice is that the opening of the connection and the establishment of the first data exchange takes a relatively long time long (~ 10s). If you have done such an exchange, can you give me an idea about how long it takes to open the connection in your case and if there’s a command or a URscript make this communication faster?

David_Gouffe

Hi, 

We never had such a long delay. We even close the connection when done and re-establish a new one when needed. 

Expect under 1 s connection time. Network is usually quite responsive. 

The downside of it is that you connect to a single slightly limited PC managing the program, movements, I/Os and everything else running on the robot. If you overload this PC with instructions, you may end with slow responsiveness from the software of the robot. 

You can also expect to be partly sync with the control loop of the robot. Faster on E-Series and slightly slower on CB. 

Again: 

This UR demo page explains TCP/IP socket communication well.

https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/ethernet-socket-communication-via-urscript-15678/

As our products use quite little TPC/IP communication, this is about as much as I can support you with this. 

Regards, 

David Gouffé
Integration Coach
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