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/

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

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Contributing

Please read CONTRIBUTING.md for details on our code of conduct, and the process for submitting pull requests to us.

Authors

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