How to extract data stream form FT 300 using C++ language?

LuWeifeng 2018-11-22

With a Universal Robot, it's said data stream can be accessible on TCP port 63351. But how to extract this data stream one by one using C++ language? Here is my sample codes:

socketHandle=socket(AF_INET,SOCK_STREAM,0);

addrCin.sin_addr.S_un.S_addr=inet_addr("10.0.0.2");

addrCin.sin_family=AF_INET;

addrCin.sin_port=htons(63351);

double flagFS=connect(socketHandle,(SOCKADDR*)&addrCin,sizeof(SOCKADDR));
char data[100];
recv( socketHandle, (char *)data, 100, 0 );

The received data is " , 107.940002 , -7.520000 , 0.349000 , -0.298000 , 1.248000)(87.220001 , 107.849998 , -7.540000 , 0. ".
I am very confused about this. Please help me.

louis_bergeron 2018-11-26

@LuWeifeng

Data are sent continuously and are in this format (Fx, Fy, Fz, Mx, My, Mz). You must grab data from this port continuously and wait for the start character, "(". Then you will be able to retrieve values which are separated by the character ",".

Hal_Bennett 2018-12-18

Is there a port that can be used to stream the force data from the force detecting hardware on the UR e-series?

PE_Germain 2018-12-18

Hi Hal,

In the UR e-series, the sensor is embedded and controlled by UR. The port is reserved by Robotiq but is it not used.
An alternative solution is to create a thread in your program, create a script who will send the data of the sensor to a socket.

There is some documentation about sending data throught TCP/IP :
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/ethernet-socket-communication-via-urscript-15678/

Regards,