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



“`



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