Universal Robots

This projects is a collection of real-time data exchange (RTDE) scripts for the Universal Robots. The scripts are written in Python and are based on the RTDE Python Client (./RTDE_Python_Client_Library/rtde/) and the URBasic (./realtime_control/URBasic) libraries. The scripts are tested on the UR model UR3e, Polyscope v. 5.12.

• manual: https://myurhelpresources.blob.core.windows.net/resources/PDF/SW_5_12/e-Series_SW_en_Global.pdf
• help forum: https://forum.universal-robots.com/

Real Time Data Exchange (RTDE)

Useful Links

• https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/
• link to pdf: https://s3-eu-west-1.amazonaws.com/ur-support-site/22229/Real_Time_Data_Exchange_(RTDE)_Guide.pdf
• video tutorial (series): https://www.youtube.com/playlist?list=PLnJ9fSRnDN3B1wEuxQY4thTWyGoT2N0yd
• Overview of Client Interfaces: https://www.universal-robots.com/articles/ur/interface-communication/overview-of-client-interfaces/
• Remote Control via TCP/IP: https://www.universal-robots.com/articles/ur/interface-communication/remote-control-via-tcpip/

Client

• Download the client from github: https://github.com/UniversalRobots/RTDE_Python_Client_Library
• input/output bits: https://s3-eu-west-1.amazonaws.com/ur-support-site/22229/IMMI_Euromap67_input_output_bits.pdf

Getting Started (Running the examples)

This explains how to run the examples inside the RTDE_Python_Client_Library/examples

Connect robot/controller to external computer

1. Connect the ethernet cable from the robot control box to your computer
2. Get the IP adress from your ethernet connection (i.e. the robot in this case) using the terminal
   $ ifconfig (Linux)
   $ ipconfig (Win)
3. In the top right corner in PolyScope select Burger button>Settings>System>Network>select static address. Set the IP adress and subnet mask (the rest can be kept at 0.0.0.0). Check it the green tick turns on to 'Network is connectet'
4. test if you can contact the robot from your computer with:
   $ ping <ip>

Load Script into PolyScope

If you have a file .urp you load it onto a usb stick and load it into PolyScope via Run>Load Programm. Press the Play button in the right bottom corner to run the program.

Python

ROBOT_HOST = '<IP number from above>'
Port = 30004
config_filename = '<config_file>.xml'

Possible bugfixes

• Turn off Wifi and other network connections
• In the PolyScope enable Remote Control, check that
• [Python] Input parameters already in use: In PolyScope, go to Installation>Fieldbus>EtherNet/IP>Disable

Change Output Frequency

In the file rtde/rtde.py the function send_output_setup(frequency=125) the value can be changed to frequency=500 to increase the output frequency

License

This project contains several subprojects which are licensed under different licenses, i.e. for each subproject, the license is specified in the respective folder.