Using URScript to get data into a programm?

VT_340

Hi!

I would like to know how to get data (e.g a X/Y Variable position from a sensor outside the robot) via TCP into the robotic program?

In general this is described here:

http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-tcp-socket-test/

But I don't feel like to remake this huge program within the PolyScope GUI. Lets say for testing I just want to send a variable from my computer (e.g via Python) to the robot that I can check their value within the "Variables" tab. In a second step I want to make the robot move to positions given by the variables.

I was succsellful in sending complete move commands to the robot via Python but I want to use the advantage of the GUI which means easy programming but insert changes from the computer.

Thanks,


Hans

louis_bergeron

You may also use the Modbus TCP server in the UR controller.  Registers 128-255, for example, are for a general purpose.  You may use pymodbus to build a simple python program like this to write desired X and Y values.

from pymodbus.client.sync import ModbusTcpClient as ModbusClient

import logging

logging.basicConfig()

log = logging.getLogger()

log.setLevel(logging.DEBUG)

##Connect to the IP adresse of the robot controller

client = ModbusClient('192.168.0.102', port=502)

client.connect()

##Writting desired x position in register 128

rq = client.write_register(128, 100)

rr = client.read_holding_registers(128,1)

assert(rq.function_code < 0x80)     # test that we are not an error

print rr.registers[0]

#Writting desired y position in register 129

rq = client.write_register(129, 40)

rr = client.read_holding_registers(129,1)

assert(rq.function_code < 0x80)     # test that we are not an error

print rr.registers[0]

client.close()

The UR program may look like this to read values from the register and place them in variables.  the variables will then be visible in the variable tab.  In the following program, the MoveL are relative to a feature. The robot goes to 0, 0, 0 and then goes to 0.1, 0.04, 0  

Program

   Robot Program

     MoveL

       my_pos≔p[0,0,0,0,0,0]

       my_pos

       pos_x≔read_port_register(128)

       pos_y≔read_port_register(129)

       my_pos[0]=pos_x/1000

       my_pos[1]=pos_y/1000

       my_pos

matthewd92

There are two ways to do it, set up a socket server or xmlrpc server on your computer. Then within URScript you would request a value and then assign the return to a variable. XMLrpc is definitely more performant than socket commands. Also it's only one command to ask and receive a value. With a socket server you'd have to request the value you want then listen for the return with a separate command. 

If you need more specifics on how to implement let me know and I can setup a simple demo when I'm home tomorrow. 

matthewd92

@louis_bergeron that's something I'll have to remember!  Thanks for the example

VT_340

Hi!
Thanks Louis for your example script.
So far I just sent the move command via TCP on Port 30002 and this works like charm. As I am not into Modbus I would rather use ordinary TCP socket. Another thing is: How can I get the code into Polyscope? I just can open .urp data.

Thanks,

Hans

matthewd92

@VT_340 if you are running a polyscope program and then send a move command to that port your main program should stop running. You can only send secondary programs that do not control motion while a primary program is running.  You should test just making a simple polyscope program, start it and then send the move command, pretty certain it will stop as the server always processes the last program sent to the server. Same as if you sent a move and before that was done sent a different move. It would stop executing the first to execute the second prior to completing the first program. 

mariem_werfelli22

Hi!
how to receive data from a server to the client ? i know the comand "socket_read_ascii_float(4)" i got as a received data(receiveFromServe:=[6.0,0.0,0.0,0.0,0.0] then after less than a second it's change to [0.0,NAN,NAN,NAN,NAN] i don't undesrtand what is the problem i need help 

matthewd92

Are you doing that in a loop or thread by any chance?

mariem_werfelli22

Hi Matthew!
yes it's a loop the new error noww is "getInverse: the function did not find a solution" maybe 

I need a loop that allows me to continue the initial loop even if there is an error

matthewd92

Just validate the data you received, the first position in the list returned tells you how many responses there were, if its 0, you know you have bad data ask for it again.

Are you sending the distances back in mm or m?  The robot needs meters and radians to work, that gets me sometimes.

mariem_werfelli22

so what should I do the problem appeared when I changed the values ​​I sent from 0 to 30 or any other number here is what i'm talking about 



                      

matthewd92

You could either send 0.03 instead of 30 (either enter it that way or between the input and the send convert it), or you will need to divide each array element by 1000 before using them.

mariem_werfelli22

Hi Mathew !
 it works, 

my new problem is that I want that when I change the values ​​of x and y and R the robot moves according to these coordinates i don't know it's not how to do that