Thank you! Can you explain where the input_double_register_0 through 5 are assigned their meaning of TCP setpoint? It seems they are general purpose registers that could be interpreted by the robot to mean something else. Could I change their meaning to be joint angles for example?
www.universal-robots.com/download/manuals-e-series/script/script-manual-e-series-sw-56/ I recommand to check out the above link. You can control the speed of the movement very easily with movej and movel as those functions take as an input both velocity and acceleration, however up to my understanding those functions are "blocking" commands and thus are not running in 500HZ. If you want to control the speed of the movement what you can do is design a trajectory that takes specific amount of time to be executed and that forces robot to move in certain velocity and then send the joint values that are samples based on that trajectory to the robots command servoj().
When I run the script on the teach pendant(polyscope) I get this error: "C207A0: Fieldbus input disconnected" - Check fieldbus connections (RTDE, ModBus, EtherNet/IP and Profinet) or diable the fieldbus in the installation. Check RTDE watchdog feature. Check if a URCap is using this feature.
a crucial detail is that the python script must be running before running the UR script on the pendant. Otherwise an error will be triggered. @@RubanMariaArulraj
I think you did a clear explanation on the codes and main files, I just still don't understand whats the watchdogs function. Where will it be used? Thanks btw
Hi, Tbh I am also not 100% what is it for :) I use it as a flag to make sure that the code in my external PC and on the teaching pedant work simultaneously and are welll synced. I might make a video showing the URScript in the future and go over a more complex example I wrote to explain where I use it
Hi there, your videos are really helpful. But I am struggling with the connection between the PC and the robot. How can I find the socket port number for establishing communication? I am totally new to this area. Thanks
Hi Neo, usually port 30004 is used for RTDE communications. You can refer to the post below. www.universal-robots.com/articles/ur/interface-communication/overview-of-client-interfaces/
Hi there! Thanks for sharing your knowledge, it has been really useful for me. I have try to run the program but it doesnt work. I supose that this is related with te ur script called rtde_control_loop.urp. I ve tried to upload it on the tablet connected to the robot but the next message appears: Installation file could not be found. You cannot load the program before it is present or a new installation is created in manual mode. Do you know why this could be happening? I supose that I sould install an instalation packet which functions in RTDE. Thank you in advance!
Thanks for sharing, I learned a lot here. But I can't run the control loop successfully, the con.connect function returns none, I have uploaded the .urp file.
Thank you for filling in the gaps in this tool tutorial。 It' s very helpful.
Absolute legend! Thanks for making your series.
Thank you! Can you explain where the input_double_register_0 through 5 are assigned their meaning of TCP setpoint? It seems they are general purpose registers that could be interpreted by the robot to mean something else. Could I change their meaning to be joint angles for example?
Hi besides pose position, can we also control the speed of the movement?
www.universal-robots.com/download/manuals-e-series/script/script-manual-e-series-sw-56/
I recommand to check out the above link. You can control the speed of the movement very easily with movej and movel as those functions take as an input both velocity and acceleration, however up to my understanding those functions are "blocking" commands and thus are not running in 500HZ.
If you want to control the speed of the movement what you can do is design a trajectory that takes specific amount of time to be executed and that forces robot to move in certain velocity and then send the joint values that are samples based on that trajectory to the robots command servoj().
When I run the script on the teach pendant(polyscope) I get this error: "C207A0: Fieldbus input disconnected" - Check fieldbus connections (RTDE, ModBus, EtherNet/IP and Profinet) or diable the fieldbus in the installation. Check RTDE watchdog feature. Check if a URCap is using this feature.
But both Profient and EtherNet/IP in the installation tab is disabled. Please let me know how I can resolve this issue.
a crucial detail is that the python script must be running before running the UR script on the pendant. Otherwise an error will be triggered. @@RubanMariaArulraj
@@RubanMariaArulraj Hi! Did you find any solution?
I think you did a clear explanation on the codes and main files, I just still don't understand whats the watchdogs function. Where will it be used? Thanks btw
Hi,
Tbh I am also not 100% what is it for :)
I use it as a flag to make sure that the code in my external PC and on the teaching pedant work simultaneously and are welll synced. I might make a video showing the URScript in the future and go over a more complex example I wrote to explain where I use it
@@simplestudent279 ow ok. Thanks man, waiting to see ur new videos bcos i will be working with UR robots soon!😀
Hi there, your videos are really helpful. But I am struggling with the connection between the PC and the robot. How can I find the socket port number for establishing communication? I am totally new to this area. Thanks
Hi Neo, usually port 30004 is used for RTDE communications. You can refer to the post below.
www.universal-robots.com/articles/ur/interface-communication/overview-of-client-interfaces/
Hi there! Thanks for sharing your knowledge, it has been really useful for me.
I have try to run the program but it doesnt work. I supose that this is related with te ur script called rtde_control_loop.urp. I ve tried to upload it on the tablet connected to the robot but the next message appears:
Installation file could not be found. You cannot load the program before it is present or a new installation is created in manual mode.
Do you know why this could be happening? I supose that I sould install an instalation packet which functions in RTDE.
Thank you in advance!
How do you run this code on the ur5e?
by tcp connection
Thanks for sharing, I learned a lot here. But I can't run the control loop successfully, the con.connect function returns none, I have uploaded the .urp file.
Hey I am facing the same issue.. Have you figured it out ? If so please let me know
@@pradeepkumar-hw8tg Hi, have you guys figured this out? If so, could you teach me how to do that please? I am also facing the same issue over here.