I have used the Airgate to VNC in to the UR. It is very easy to setup and connect too whether it be through your network or a mobile sim card. Never ran into any problems while using it.

Hi Can I know how many robots can be connected to single Airgate  for communication.

Hi, I want use Airgate for viewing and controlling  the Ployscopes of 2 or 3 robots. Can I know if i can use it? I went through the ARCS basic and ARCSrm . From I understood that ARCSbasic is used for getting sms alret while ARCSrm is for viewing the Ployscope. Does ARCSrm consist of ARCSbasic feature?? I don't get a clear understanding on ARCSrm. I would like to get help for ARCSrm. 

Thanking you in advance.

Warm Regards,
Lakshmi Prasanna.

I work for a distributor of UR and AirGate.  We have the ARCS and RM both on our demo UR3.  The newest firmware allows for multiple devices behind the ARCS gateway device.  Meaning you can connect to other devices beside the UR from outside the LAN.  I do not believe you can set up multiple UR's automatically.  However, the ARCS is utilizing Secomea's GateManager appliance with a 5 device limit.  Therefore I could theoretically be manually configured to allow RM (VNC control of Polyscope) on more than one robot behind the same GateManager.  I have not tried this yet, but I might just throw our UR3 and UR5 in the same room and give it a whirl soon.  
To answer your other question, the basic device (ARCS) is like you said, for getting system status messages sent to a phone.  The Remote Manager is an 'add-on' to this ARCS device....it's simply a software license to the hardware device.  So, short answer is NO you don't 'get' the basic functions of the ARCS with the purchase of the RM software license, you need to add it to your existing ARCS hardware.

Clear as mud?

EDIT:
I just realized that the link in the above post to the UR website is the article I was featured in.

@Daniel You can install VNC on a controller by issuing the command

# apt-get install x11vnc

Great! This is what I'm looking for.

Have you tried this yourself? Does it work good?

Do you have any tips on how to configure the VNC-server installation?

And do you know if this is the command to uninstall VNC?
$ apt-get remove x11vnc

I could find this guide for x11vnc.
https://help.ubuntu.com/community/VNC/Servers#x11vnc

Thank you for the tip.

@Daniel Yes I did. We used that method to cast our demo on a projector. The command I sent you is from what I recall though. There might be additional dependencies to install. If you have any issues just ask me.

To remove it is the good command. But I suggest that you use your backup instead in order to restore your system to the factory settings.

@Daniel Check the flie ~/xsession. This is a script that is executed when an X11 (GUI) is started. You can add a line to start x11vnc in that file. Check the options of x11vnc so it runs in background and continue to listen when a client closes the connection.

Thank you for the nice summary! I was on my way on making one but you saved me the work.

I also had to edit "/etc/apt/sources.list" and un-comment the two lines so the following servers are active:

  deb http://ftp.dk.debian.org/debian/ wheezy main contrib
  deb-src http://ftp.dk.debian.org/debian/ wheezy main contrib

Daniel you're absolutely right, I forgot it.
I can't edit my post anymore (they really should allow that!), but people will find out soon enough.

Hello together,
Thank you for the perfect explanation.
Can one of you explain what I do wrong with my UR5?
If I am on the Polyscope user interface, I enter [CTRL + Alt + F2] to get into the console.
Then I log in with root and easybot.
And if I then enter the command # apt-get install x11vnc ;it appears with me the message:
E: Could not find package x11vnc

So what am I doing wrong or are my steps the right one at all?
Thank you

Did you uncomment the lines in /etc/apt/sources.list' as Daniel mentioned?

-

Hi !

Thank you for this solution, but i have a problem...

When try this command : /etc/apt/sources.list'

this message appears : -bash: /etc/apt/sources.list: Permission denied

/etc/apt/sources.list is not the command. When you typed that, the shell tried to execute this file. Try this instead:

nano /etc/apt/sources.list

**nevermind -- editing the sources.list is the key**
I've tried the above process (get update), the download site appears to be offline? 'failed to fetch http://packages.ur-update.dk/ubuntu/./Release.gpg'

Daniel, you can remotely monitor, debug, and control the robot over the web using our cloud robotics platform: https://tend.ai.

I'd be happy to answer any questions you have about how it works.

When I enter apt-get update I am getting an error "could not resolve 'packages.ur-update.dk'. Does anyone have any insight on this. I have already tested my connection to the internet by pinging google.com.

I forgot to write out after deleting the comments. The install worked after that, thanks.

Hello,

I am trying to install x11vnc.  I have edit, removed the hash in,etc/apt/sources.list. Then I ran apt-get update and got the following:

root@ur-2016352878:~# apt-get update
Err http://packages.ur-update.dk ./ Release.gpg
  Could not resolve 'packages.ur-update.dk'
Ign http://ftp.dk.debian.org wheezy Release.gpg
Ign http://ftp.dk.debian.org wheezy Release
Ign http://ftp.dk.debian.org wheezy/main i386 Packages/DiffIndex
Ign http://ftp.dk.debian.org wheezy/contrib i386 Packages/DiffIndex
Err http://ftp.dk.debian.org wheezy/main Sources
  403  Forbidden: category denied [IP: 130.225.254.116 80]
Err http://ftp.dk.debian.org wheezy/contrib Sources
  403  Forbidden: category denied [IP: 130.225.254.116 80]
Ign http://ftp.dk.debian.org wheezy/contrib Translation-en
Ign http://ftp.dk.debian.org wheezy/main Translation-en
Err http://ftp.dk.debian.org wheezy/main i386 Packages
  403  Forbidden: category denied [IP: 130.225.254.116 80]
Err http://ftp.dk.debian.org wheezy/contrib i386 Packages
  403  Forbidden: category denied [IP: 130.225.254.116 80]
Reading package lists... Done
W: Failed to fetch http://packages.ur-update.dk/ubuntu/./Release.gpg  Could not resolve 'packages.ur-update.dk'

W:
 Failed to fetch 
http://ftp.dk.debian.org/debian/dists/wheezy/main/source/Sources  403  
Forbidden: category denied [IP: 130.225.254.116 80]

W: Failed to 
fetch 
http://ftp.dk.debian.org/debian/dists/wheezy/contrib/source/Sources  
403  Forbidden: category denied [IP: 130.225.254.116 80]

W: 
Failed to fetch 
http://ftp.dk.debian.org/debian/dists/wheezy/main/binary-i386/Packages  
403  Forbidden: category denied [IP: 130.225.254.116 80]

W: 
Failed to fetch 
http://ftp.dk.debian.org/debian/dists/wheezy/contrib/binary-i386/Packages 
 403  Forbidden: category denied [IP: 130.225.254.116 80]

W: Some index files failed to download. They have been ignored, or old ones used instead.

root@ur-2016352878:~# apt-get install X11vnc
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package X11vnc
root@ur-2016352878:~#

Are you connected to the internet with your robot? An easy way to test is to ping google.com. you may have to change your robots IP to DHCP if you can not ping google.

Hello,

I am connect to the internet.

Here are my ping results:

root@ur-2016352878:~# ping -c 3 www.google.com
PING www.google.com (216.58.194.164) 56(84) bytes of data.
64 bytes from sfo07s13-in-f4.1e100.net (216.58.194.164): icmp_req=1 ttl=56 time=9.50 ms
64 bytes from sfo07s13-in-f164.1e100.net (216.58.194.164): icmp_req=2 ttl=56 time=9.48 ms
64 bytes from sfo07s13-in-f4.1e100.net (216.58.194.164): icmp_req=3 ttl=56 time=9.48 ms

--- www.google.com ping statistics ---
3 packets transmitted, 3 received, 0% packet loss, time 2002ms
rtt min/avg/max/mdev = 9.482/9.489/9.502/0.080 ms


root@ur-2016352878:~# ping -c 3 www.bing.com
PING a-0001.a-msedge.net (13.107.21.200) 56(84) bytes of data.
64 bytes from 13.107.21.200: icmp_req=1 ttl=121 time=8.95 ms
64 bytes from 13.107.21.200: icmp_req=2 ttl=121 time=8.82 ms
64 bytes from 13.107.21.200: icmp_req=3 ttl=121 time=9.01 ms

--- a-0001.a-msedge.net ping statistics ---
3 packets transmitted, 3 received, 0% packet loss, time 2001ms
rtt min/avg/max/mdev = 8.821/8.931/9.015/0.136 m

Hi Brian,

Thank you for your post. I will look into your issue now that I got mine working!

How I solved the problem:

I am not sure of why I could not connect to the dk servers,

deb http://ftp.dk.debian.org/debian/ wheezy main contrib
deb-src http://ftp.dk.debian.org/debian/ wheezy main contrib

deb http://ftp.us.debian.org/debian/ wheezy main contrib
deb-src http://ftp.us.debian.org/debian/ wheezy main contrib

@thewave Where is the vnc command located in the xsession file. Can you post it?

My VNC log file from the xsession start:

20/01/2018 08:27:10 passing arg to libvncserver: -nofixes
20/01/2018 08:27:10 passing arg to libvncserver: -rfbauth
20/01/2018 08:27:10 passing arg to libvncserver: /etc/x11vnc.pass
20/01/2018 08:27:10 passing arg to libvncserver: -rfbport
20/01/2018 08:27:10 passing arg to libvncserver: 5900
20/01/2018 08:27:10 x11vnc version: 0.9.13 lastmod: 2011-08-10  pid: 2571
20/01/2018 08:27:10 Using X display :0
20/01/2018 08:27:10 rootwin: 0xae reswin: 0x400001 dpy: 0x83b2408
20/01/2018 08:27:10 
20/01/2018 08:27:10 ------------------ USEFUL INFORMATION ------------------
20/01/2018 08:27:10 
20/01/2018 08:27:10 Wireframing: -wireframe mode is in effect for window moves.
20/01/2018 08:27:10   If this yields undesired behavior (poor response, painting
20/01/2018 08:27:10   errors, etc) it may be disabled:
20/01/2018 08:27:10    - use '-nowf' to disable wireframing completely.
20/01/2018 08:27:10    - use '-nowcr' to disable the Copy Rectangle after the
20/01/2018 08:27:10      moved window is released in the new position.
20/01/2018 08:27:10   Also see the -help entry for tuning parameters.
20/01/2018 08:27:10   You can press 3 Alt_L's (Left "Alt" key) in a row to 
20/01/2018 08:27:10   repaint the screen, also see the -fixscreen option for
20/01/2018 08:27:10   periodic repaints.
20/01/2018 08:27:10 
20/01/2018 08:27:10 XFIXES available on display, resetting cursor mode
20/01/2018 08:27:10   to: '-cursor most'.
20/01/2018 08:27:10   to disable this behavior use: '-cursor arrow'
20/01/2018 08:27:10   or '-noxfixes'.
20/01/2018 08:27:10 using XFIXES for cursor drawing.
20/01/2018 08:27:10 GrabServer control via XTEST.
20/01/2018 08:27:10 
20/01/2018 08:27:10 Scroll Detection: -scrollcopyrect mode is in effect to
20/01/2018 08:27:10   use RECORD extension to try to detect scrolling windows
20/01/2018 08:27:10   (induced by either user keystroke or mouse input).
20/01/2018 08:27:10   If this yields undesired behavior (poor response, painting
20/01/2018 08:27:10   errors, etc) it may be disabled via: '-noscr'
20/01/2018 08:27:10   Also see the -help entry for tuning parameters.
20/01/2018 08:27:10   You can press 3 Alt_L's (Left "Alt" key) in a row to 
20/01/2018 08:27:10   repaint the screen, also see the -fixscreen option for
20/01/2018 08:27:10   periodic repaints.
20/01/2018 08:27:10 X FBPM extension not supported.
20/01/2018 08:27:10 X display is capable of DPMS.
20/01/2018 08:27:10 --------------------------------------------------------
20/01/2018 08:27:10 
20/01/2018 08:27:10 Default visual ID: 0x21
20/01/2018 08:27:10 Read initial data from X display into framebuffer.
20/01/2018 08:27:10 initialize_screen: fb_depth/fb_bpp/fb_Bpl 16/16/1600
20/01/2018 08:27:10 *** unrecognized option(s) ***
20/01/2018 08:27:10 	[1]  -nofixes
20/01/2018 08:27:10 For a list of options run: x11vnc -opts
20/01/2018 08:27:10 or for the full help: x11vnc -help
20/01/2018 08:27:10 
20/01/2018 08:27:10 Here is a list of removed or obsolete options:
20/01/2018 08:27:10 
20/01/2018 08:27:10 removed: -hints, -nohints
20/01/2018 08:27:10 removed: -cursorposall
20/01/2018 08:27:10 removed: -nofilexfer, now the default.
20/01/2018 08:27:10 
20/01/2018 08:27:10 renamed: -old_copytile, use -onetile
20/01/2018 08:27:10 renamed: -mouse,   use -cursor
20/01/2018 08:27:10 renamed: -mouseX,  use -cursor X
20/01/2018 08:27:10 renamed: -X,       use -cursor X
20/01/2018 08:27:10 renamed: -nomouse, use -nocursor
20/01/2018 08:27:10 renamed: -old_pointer, use -pointer_mode 1

20/01/2018 08:29:59 passing arg to libvncserver: -rfbauth
20/01/2018 08:29:59 passing arg to libvncserver: /etc/x11vnc.pass
20/01/2018 08:29:59 passing arg to libvncserver: -rfbport
20/01/2018 08:29:59 passing arg to libvncserver: 5900
20/01/2018 08:29:59 x11vnc version: 0.9.13 lastmod: 2011-08-10  pid: 4618
20/01/2018 08:29:59 Using X display :0
20/01/2018 08:29:59 rootwin: 0xae reswin: 0xc00001 dpy: 0x83b2448
20/01/2018 08:29:59 
20/01/2018 08:29:59 ------------------ USEFUL INFORMATION ------------------
20/01/2018 08:29:59 
20/01/2018 08:29:59 Wireframing: -wireframe mode is in effect for window moves.
20/01/2018 08:29:59   If this yields undesired behavior (poor response, painting
20/01/2018 08:29:59   errors, etc) it may be disabled:
20/01/2018 08:29:59    - use '-nowf' to disable wireframing completely.
20/01/2018 08:29:59    - use '-nowcr' to disable the Copy Rectangle after the
20/01/2018 08:29:59      moved window is released in the new position.
20/01/2018 08:29:59   Also see the -help entry for tuning parameters.
20/01/2018 08:29:59   You can press 3 Alt_L's (Left "Alt" key) in a row to 
20/01/2018 08:29:59   repaint the screen, also see the -fixscreen option for
20/01/2018 08:29:59   periodic repaints.
20/01/2018 08:29:59 GrabServer control via XTEST.
20/01/2018 08:29:59 
20/01/2018 08:29:59 Scroll Detection: -scrollcopyrect mode is in effect to
20/01/2018 08:29:59   use RECORD extension to try to detect scrolling windows
20/01/2018 08:29:59   (induced by either user keystroke or mouse input).
20/01/2018 08:29:59   If this yields undesired behavior (poor response, painting
20/01/2018 08:29:59   errors, etc) it may be disabled via: '-noscr'
20/01/2018 08:29:59   Also see the -help entry for tuning parameters.
20/01/2018 08:29:59   You can press 3 Alt_L's (Left "Alt" key) in a row to 
20/01/2018 08:29:59   repaint the screen, also see the -fixscreen option for
20/01/2018 08:29:59   periodic repaints.
20/01/2018 08:29:59 X FBPM extension not supported.
20/01/2018 08:29:59 X display is capable of DPMS.
20/01/2018 08:29:59 --------------------------------------------------------
20/01/2018 08:29:59 
20/01/2018 08:29:59 Default visual ID: 0x21
20/01/2018 08:29:59 Read initial data from X display into framebuffer.
20/01/2018 08:29:59 initialize_screen: fb_depth/fb_bpp/fb_Bpl 16/16/1600
20/01/2018 08:29:59 
20/01/2018 08:29:59 X display :0 is 16bpp depth=16 true color
20/01/2018 08:29:59 
20/01/2018 08:29:59 Listening for VNC connections on TCP port 5900
20/01/2018 08:29:59 Listening for VNC connections on TCP6 port 5900
20/01/2018 08:29:59 listen6: bind: Address already in use
20/01/2018 08:29:59 Not listening on IPv6 interface.
20/01/2018 08:29:59 
20/01/2018 08:29:59 Xinerama is present and active (e.g. multi-head).
20/01/2018 08:29:59 Xinerama: number of sub-screens: 1
20/01/2018 08:29:59 Xinerama: no blackouts needed (only one sub-screen)
20/01/2018 08:29:59 
20/01/2018 08:29:59 fb read rate: 51 MB/sec
20/01/2018 08:29:59 The X server says there are 10 mouse buttons.
20/01/2018 08:29:59 screen setup finished.
20/01/2018 08:29:59 

The VNC desktop is:      ur-2014730315:0

******************************************************************************
Have you tried the x11vnc '-ncache' VNC client-side pixel caching feature yet?

The scheme stores pixel data offscreen on the VNC viewer side for faster
retrieval.  It should work with any VNC viewer.  Try it by running:

    x11vnc -ncache 10 ...

One can also add -ncache_cr for smooth 'copyrect' window motion.
More info: http://www.karlrunge.com/x11vnc/faq.html#faq-client-caching

BLAH! After looking at my post I saw the problem.

20/01/2018 08:27:10 *** unrecognized option(s) ***
20/01/2018 08:27:10 	[1]  -nofixes

if you put the export DISPLAY above the x11vnc command, does it works?

There has been mention of backing up the flash/usb drive before making any changes. What is the preferred method to do this as well as validating the backup?

What happens when you SSH into it?

I don't know to use SSH, I followed the procedure, How I use SSH?

Hi,

Use Putty(if on windows), select SSH, put your IP address in, when you click on open, the SSH window will ask for a user name and password.
Username: root
Password: easybot

You will be in your linux backend.  !!! BE CAREFUL AS YOUR THE ROOT USER !!!  You can do alot once your in however you need to know about linux OS and how to navigate with a terminal. I wouldn't experiment in the UR box, better to get a junk computer with Linux and test your changes.
I think UR has a modify Debian  Linux build. 

To learn about linux you will need to google.  I like Ubuntu and Mint Linux. Or use a debian build.

Good Luck!

Ok, I got Putty, and I get now access to the terminal at UR , I like tu access to Polyscope by Tightvnc or VNC Viewer 

I do not know why your VNC and FTP cuts out.  Seems like the system goes to sleep or something. I would read the documentation on x11vnc, http://www.karlrunge.com/x11vnc/.  I would look at the http://www.karlrunge.com/x11vnc/x11vnc_opts.html#opt-forever, which gives insite to the options when you called x11vnc.  You can try to reopen x11vnc onces you SSH into your box. 

If you close the VNC viewer, it will not reconnect without rebooting Polyscope.

You can have a permanent access if you do the following : 

1. In the SSH session, enter the following command: x11vnc -storepasswd easybot /etc/x11vnc.pass

2. Using filezilla, copy the xsession file from root folder on your computer

3. Open the xsession file using notepad++ and include the following line at the beginning of the file right under #!/bin/bash:    /usr/bin/x11vnc -xkb -noxrecord -noxfixes -ultrafilexfer -noxdamage -display :0 -rfbauth /etc/x11vnc.pass -rfbport 5900 -forever -auth root -bg -o /var/log/x11vnc.log

1. Save the file and use filezilla to return the file in the root folder on the controller.

2. Reboot controller and DONE!  use ULTRA VNC Viewer to connect to robot

Ohh  . same thing  ,

Thanks David and the other ones help me, I have no idea about what is happening , after reboot and the connection is made....I can play with Filezilla, Putty or Vnc viewer with no problems , but on Vnc viewer  , if I left a while without interacting whith Polyscope , the connection is refused from robot controller..I will try with another PC

I'm curious about how you are using vnc. Do you use it to monitor your production? Do you use it to program your robot remotely? Do you use it on your local network or over the internet?

At Robotiq, developers use it mainly to test the urcaps we are working on without leaving our seat. I know, this is lazy.

Hi, we basically use it for remote programming and remote debugging. As you know it will be tiring to hold the teach pendant and program for a long and complex sequence. Using VNC means, we can use the real keyboard and mouse.

Does anyone know if this still works? its telling me that the ftp.dk.debian.org files arent found

Where is the file attached at?

I linked it. The attachment did not work.

What do i do after install?

You connect to the vnc server with a vnc client. The port is 5900. You will have to enter the robot password which is easybot by default.

And im assuming that the vnc server would be my ur ip?

right

its not letting me connect. 

Have you inserted the usb flash drive in the controller? Are you sure you are on the same subnet as the robot. Did you enter the pass word?

Yes to all. its not giving me an option to enter a password