URScript Programming Language: Module internals function

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Obenyaala 2019-11-11

I am trying to receive return values from Module internals functions using the URScript Programming Language, e.g. return value from get_actual_joint_positions(). I can send commands like movej(pose) via Socket using port 30002 but I know that this is a one-way connection and I can't receive data the same way. I also read the Real-Time Data Exchange (RTDE) guide but I couldn't understand how to implement it using c#. The model I am working with is UR10e and the URSoftware is 5.5.1.82186. I would appreciate any type of help.
Thank you all.
Best Regards
Oussama Benyaala

bcastets 2019-11-12

You could send a program which open a socket connection and send the result of the function get_actual_joint_position() to your PC.

Otherwise there is some documentation about the RTDE on Universal Robot website with sample program in python. You should find the information you need to get robot position.

https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/

Obenyaala 2019-11-13

Thank you, i solved it by using the RTDE guide.