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URUA
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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
or
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
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Primary Secondary Interface for direct execution of UR scripts
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Dashboard server for orchestration functions e.g. starting/stopping a program
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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¶ ↑
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Florian Pauker - OPC UA Modelling -
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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¶ ↑
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This work has been funded by the FFG