`URUA`¶ ↑

A simple OPC UA server for Universal robots in ruby, which uses the ur-sock and opcua-smart library.

Getting Started¶ ↑

A simple ruby server, which uses the ur-sock and opcua-smart library.

Prerequisites & Intallation¶ ↑

For this server the OPC UA installation of the opcua-smart gem is required. Please follow the instructions at github.com/etm/opcua-smart and install the opcua gem.

Additionally you have to install the URUA gem with:

gem install urua

If you want to develop or extend the server, just use the following instruction

git clone https://github.com/fpauker/urua
git clone https://github.com/fpauker/ur-sock
git clone https://github.com/etm/opcua-smart

Just follow the install instructions of the 3 projects. After installing all packages do

cd urua/server

in this directory the devserver.rb and the devserver.config are located.

Starting the server¶ ↑

To start the server type in the following commands:

cd urua/server
./uruaserver.rb start

cd urua/server
./devserver.rb start

to start the developing server.

Adress space¶ ↑

The server's adress space is shown in the pictures below.

It offers several features combining 3 different interfaces of the Universal robot. It uses the

Primary Secondary Interface for direct execution of UR scripts
Dashboard server for orchestration functions e.g. starting/stopping a program
RTDE interface for getting the robot states

Contributing¶ ↑

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

Versioning¶ ↑

We use SemVer for versioning. For the versions available, see the tags on this repository.

Authors¶ ↑

Florian Pauker - OPC UA Modelling -
Jürgen Mangler - Ruby Support -

See also the list of contributors who participated in this project.

License¶ ↑

This project is licensed under the GPL3 License - see the LICENSE.md file for details

Acknowledgments¶ ↑

This work has been funded by the FFG

URUA¶ ↑