ur-sock¶ ↑
Universal robot interface implementation in ruby. This library provides functions using different interfaces of the universal robot. Primary this was designed for the new e-series.
Requirements¶ ↑
This software requires URControl version newer than 5.1. Latest supported URControl vresion: 5.5
Getting Started¶ ↑
This library uses 3 interfaces of the universal robot: * RTDE Interface (port 30002) * Primary/Secondary Interface (port 30003) * Dashboard Interface (port 29999)
Prerequisites & Intallation¶ ↑
To run the server we need the following packages:
#installation of the necessary packages gem install xml-smart #installation of the gem gem install ur-sock
Interfaces¶ ↑
RTDE¶ ↑
The Real-Time Data Exchange (RTDE) interface can be configured with an XML file. * Output: robot-, joint-, tool- and safety status, analog and digital I/O's and general purpose output registers * Input: digital and analog outputs and general purpose input registers
The complete documentation of all available in- and outputs can be found on: www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/
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Loading Config file
“`ruby
Loading the config file¶ ↑
conf =
UR::XMLConfigFile.new
“test.conf.xml”
configure output¶ ↑
output_names, output_types = conf.get_recipe('out')
ruby
Set Speed to very slow¶ ↑
speed_names, speed_types = conf.get_recipe('speed')¶ ↑
speed = con.send_input_setup(speed_names, speed_types)¶ ↑
speed = 1¶ ↑
speed = 0¶ ↑
con.send(speed)¶ ↑
connecting to the RTDE interfaces on port 30002¶ ↑
rtde = UR::Rtde.new
('192.168.1.2').connect
### Examples Loading Config for RTDE interface
ruby
Connecting to robot
ruby
connecting to the proimary/secondary interface (psi) on port 30003¶ ↑
psi = UR::Transfer.new('192.168.1.2').connect
connecting to the dashboard interface on port 29999¶ ↑
dash = UR::Dash.new
('192.168.1.2').connect
“`
Contributing¶ ↑
Please read CONTRIBUTING.md for details on our code of conduct, and the process for submitting pull requests to us.
Authors¶ ↑
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Florian Pauker
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Jürgen Mangler
See also the list of contributors who participated in this project.
License¶ ↑
This project is licensed under the LGPL3 License - see the LICENSE.md file for details