Offline programming

koyalov

Hallo everyone.I have one question: how you doing offline programming? I mean that I want to do my program on my laptop and after that load it on the robot controller from usb.I find 3 file in program: .txt file, .urp file .script file. I modify .script file with Notepad++,but if I load it on robot it's don't do everythink

Tyler_Berryman

@koyalov , 

If you have created a script function in the .script file you can use the following method :
Add a "BeforeStart" section to your robot program. From here you can add a script file in your BeforeStart section, select "File" and then choose the .script file that you want to use.

 When you want to use the function that you have defined in the .script file, you can call the function in the robot program by using a script code, (example : ScriptFunction(). )

matthewd92

We do a lot of programming using the simulator from the UR website, then just cross load the .urp file onto the robot.  If you make changes to the installation file make sure that you copy that over as well.  You cannot edit the program script file because it will actually be rewritten when you save or press play on the robot.  It is generated when the urp file is compiled to script.

Also, make sure that you are using compatible versions of the simulator and robot polyscope version, ideally you would use the same version so that you have access to the same API at the program level.

koyalov

Is it possible to program without using poliskope? I mean, maybe doing the program on laptop with some editor,safe it on usb with .script und after that load und compilate it with poliskope? Is somebody doing somethink like that?

matthewd92

The only way I know today to generate a polyscope urp file is to use either polyscope or one of the offline programming tools that generate a polyscope file. I can’t remember which ones do that (robodk, octopuz, etc) but that still isn’t taking a script file written in an IDE and converting it to urp. The only way to execute a script file on the robot would be to do what @Tyler_Berryman recommended above. 

The other option is to use another computer as a server and serve that file to the robot for execution. 

subashree

Hi ,
I want to know about ,how to send  a xml rpc request to Polyscope UR3 using java commands..
Is it possible to show some kind of example code?
Thanks in advance

matthewd92

xmlrpc is used for requesting a response from the robot to a xmlrpc server. I can’t share any of our code but there are plenty of examples on the web if you look for xmlrpc servers.  XML RPC is just one flavor of RPC. The RPC stands for remote procedure call and it is transported using XML as the data wrapper.

From the robot you simply define your xmlrpc factory and then you simply make procedure calls to the server using dot notation with the functions that you are calling being whatever functions are available on the server. 

One common use case is string concatenation. You can pass a set of strings to the server and get back a single string. This is great for combining text with variable data that can then be used in a pop up message to the operator using the script pop up command for instance. 

subashree

thank you @matthewd92 .. it was helpful.

Albert

@koyalov , @matthewd92 , the latest version of RoboDK supports generating URP files that can later be edited from the robot teach pendant. These URP files are not just a call to a script file but native URP files. You have to make sure you use the Universal_Robots_URP post processor in RoboDK.

I wrote this blog post with more detailed information:
https://robodk.com/blog/robot-programming-urp/