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StudentStudent Posts: 21 Apprentice
edited April 2017 in Programming

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.


Best Answer


  • StudentStudent Posts: 21 Apprentice
    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.
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,264 Handy
    You're welcome. 
  • mariem_werfelli22mariem_werfelli22 Posts: 13 Apprentice
    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
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,264 Handy
    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

    You will need a handler on the server that when the request from the robot is made, what to respond back with 
  • mariem_werfelli22mariem_werfelli22 Posts: 13 Apprentice
    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
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,264 Handy
    I have never used Labview to control a robot so unfortunately I cannot give you that.
  • TesfitTesfit Posts: 4 Apprentice
    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) 
    main program
    • 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()
    Thank you in advance,
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,264 Handy
    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. 

    Such as: 

    socket_open(“ip”, port, “name”)
    socket_send_string(“message”, “name”)

    as long as you are frequently accessing the port it should stay alive without issue. This is how we control motors as well with sockets. 
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