Comments for Zacobria Universal-Robots community - a help forum with hints tips and how to use universal robot CB2

Zacobria Robot community forum Universal-Robots

09/24/2017 04:02 PM
Comment on UR Script: Client-Server example by tali
Hello Lars, I have a client-server program working with universal ur3. I changed the connection: instead of connecting the robot to the network, and connecting the computer to the network, I am now connected directly to the robot via an internet cable. Should I be using a special cable for this? Re-configure the robot’s ip address? Thanks, Tali.

09/18/2017 07:36 PM
Comment on UR Script: Client Server Test by tali
Hello Lars, I have a client-server program working with universal ur3. I changed the connection: instead of connecting the robot to the network, and connecting the computer to the network, I am now connected directly to the robot via an internet cable. Should I be using a special cable for this? Re-configure the robot's ip address? Thanks, Tali.

09/15/2017 03:00 PM
Comment on UR Script: Script programming from the teaching pendant. by Mark
<code> popup (" A new plane will be defined by the following three points: 1. Origin, 2 Y-direction, 3 X-direction ") freedrive_mode() var_1=request_boolean_from_primary_client("Go to first position and press Yes") while (not(var_1 == True )): sync() end end_freedrive_mode() Point_19 = get_actual_tcp_pose() sleep(2.0) freedrive_mode() var_2=request_boolean_from_primary_client("Go to second position and press Yes") while (not(var_2 == True )): sync() end end_freedrive_mode() Point_20 = get_actual_tcp_pose() sleep(2.0) freedrive_mode() var_3=request_boolean_from_primary_client("Go to third position and press Yes") while (not(var_3 == True )): sync() end end_freedrive_mode() Point_21 = get_actual_tcp_pose() sleep(2.0) end_freedrive_mode() global PP=Prod7 </code> At the moment I tried to change the three points (19, 20 and 21) which are related to Plane7, called Prod7 in this case. This doesnt work either. So i want: 1. Modify the existing features 2. Create new planes by a converting command. (my preference) The reason the second has my preference is that you can create own planes in global poses and use it for specific parts of programs. I already tried to use pose_trans with my own created poses (which were an offset of existing planes) and it worked. But in reality you can't just use offset so i need to be able to make a real transfrom out of 3 poses. Thanks in advancce

09/14/2017 07:58 PM
Comment on UR Script: Script programming from the teaching pendant. by Mark
Another question, I have downloaded the script manual of the official website. It seems to be incomplete. For example, the commands rotvec2rpy([3.14,1.57,0]) or rpy2rotvec([3.14,1.57,0]) are not listed in that manual, i've found the commands somewhere else (sadly enough, don't know where anymore) For me, those commands are quite important. Is there somewhere a complete list of ALL possible commands? An option I'm still looking for, is to <b>create a new plane out of three poses</b>. At the moment, I can only create these with Installation -> Features -> New plane. The result of this teaching is a pose when I export a program which uses this plane. However, I want to be able to define the three points myself and convert it to a plane. If I can do this, I can give my operators so much freedom to put products on new places with very little effort.

09/07/2017 05:55 PM
Comment on UR Script: Client-Server example by Mohammed Sharafath
In the intialization part I assign the value "null" to the var_2 var_2:=”null” Then the loop statement here executes till the value of var_2 changes from "null". That way the loop will execute till robot receives some data. Loop var_2:=?”null” wait: 0.5 var_2:=socket_read_string() The problem is that the value of var_2 become empty when the PC send the data. And the loop is closed as the value of var_2 is no longer "null". I think this may be a problem with: 1. syntax of the script code may be wrong 2. syntax of the data being sent is wrong. If you could give an example of a program, where strings are sent from PC using Labview or Python and received using the socket_read_string() command, it would be great.

09/07/2017 04:04 PM
Comment on Speed regulator for programs by Rahul
Is there a way to convert joint speed to Tool speed? I was using Move J command for a Move and now I am planning to use Move L. And I want the same speed for Move L as that of the old Move j command. So is there a way to convert way to convert joint speed to Tool speed?

09/07/2017 08:52 AM
Comment on UR Script: Client-Server example by zacopressadmin
Hi Sharafath Thanks for your question. I am not sure what the second loop does - so it can be a timing matter. Maybe consider to send a trigger to the PC to send data so it is known when they arrive. More informations at this link. http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/script-client-server/ Author: <a href="https://plus.google.com/u/0/116832821661215606670?rel=author" rel="nofollow">By Zacobria Lars Skovsgaard</a> Accredited Universal Robots support Centre and Forum. <br /> <br /> <a href="http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/" rel="nofollow">Also check out the CB3 forum</a> <div class="fb-like" data-href="http://www.zacobria.com" data-send="false" data-layout="button_count" data-width="450" data-show-faces="false" data-font="arial" data-action="recommend"></div> <div class="fb-share-button" data-href="https://zacobria.com" data-layout="button_count"></div> <br /> <script type="IN/Share" data-counter="right" data-onsuccess="LinkedInShare"></script> <div class="g-follow" data-annotation="bubble" data-height="20" data-href="https://plus.google.com/116832821661215606670" data-rel="author"></div> <div class="g-plusone" data-size="medium" data-annotation="bubble" data-width="300"></div> <div class="g-plus" data-action="share" data-annotation="bubble"></div> <a href="https://twitter.com/share" class="twitter-share-button" data-url="http://www.zacobria.com" data-via="zacobria" rel="nofollow">Tweet</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script> <a href="https://twitter.com/zacobria" class="twitter-follow-button" data-show-count="true" rel="nofollow">Follow @zacobria</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script>

09/07/2017 08:42 AM
Comment on Preface Universal-Robots CB2 Forum: by zacopressadmin
Hi Yingchen Yes but what is the command send to the robot ? And what is the function that send the data back from the robot ? Is there a UR script running on the robot ? Maybe can show th code that does this communication ? Author: <a href="https://plus.google.com/u/0/116832821661215606670?rel=author" rel="nofollow">By Zacobria Lars Skovsgaard</a> Accredited Universal Robots support Centre and Forum. <br /> <br /> <a href="http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/" rel="nofollow">Also check out the CB3 forum</a> <div class="fb-like" data-href="http://www.zacobria.com" data-send="false" data-layout="button_count" data-width="450" data-show-faces="false" data-font="arial" data-action="recommend"></div> <div class="fb-share-button" data-href="https://zacobria.com" data-layout="button_count"></div> <br /> <script type="IN/Share" data-counter="right" data-onsuccess="LinkedInShare"></script> <div class="g-follow" data-annotation="bubble" data-height="20" data-href="https://plus.google.com/116832821661215606670" data-rel="author"></div> <div class="g-plusone" data-size="medium" data-annotation="bubble" data-width="300"></div> <div class="g-plus" data-action="share" data-annotation="bubble"></div> <a href="https://twitter.com/share" class="twitter-share-button" data-url="http://www.zacobria.com" data-via="zacobria" rel="nofollow">Tweet</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script> <a href="https://twitter.com/zacobria" class="twitter-follow-button" data-show-count="true" rel="nofollow">Follow @zacobria</a> <script>!function(d,s,id){var js,fjs=d.getElementsByTagName(s)[0],p=/^http:/.test(d.location)?'http':'https';if(!d.getElementById(id)){js=d.createElement(s);js.id=id;js.src=p+'://platform.twitter.com/widgets.js';fjs.parentNode.insertBefore(js,fjs);}}(document, 'script', 'twitter-wjs');</script>

09/07/2017 12:03 AM
Comment on UR Script: Client-Server example by Mohammed Sharafath
Hi, I am trying to receive data from the PC to the robot. The data from PC is sent in string format through LabView. I have used the following code to receive the data: var_1:="null" var_2:=False Loop var_1 :=? False wait: 0.5 var_1:=socket_open("192.168.3.10", 30000) wait: 1 Loop var_2:=?"null" wait: 0.5 var_2:=socket_read_string() wait: 1 socket_close() The problem is, the robot is able to get some data such that the value of var_2 changes to an empty string (" "). and it moves out of the second loop. But I am not able to receive any meaningful data. I am able to use the same IP and port to send data to LabView and there is no problem in that. Any help from your side would be of great help. Thanks and regards Sharafath

09/06/2017 10:43 AM
Comment on Preface Universal-Robots CB2 Forum: by Yingchen
Thank you for your reply * How are you sending the commands from the Laptop ? I made a socket connection to the robot and send messages to it, then I receive the message from the URScript. * How are you receiving the feedback from the robot ? I sent feedback from the URScript using the same socket connection.