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Tool Communication forwarding URCapX

Note

This is the PolyScope X version of the Tool Communication forwarding URCap. For the PolyScope 5 version, please see Universal_Robots_ToolComm_Forwarder_URCap.

This URCapX allows forwarding the serial communication device from the robot's tool flange to a TCP port. This way, external PCs can communicate with tools connected to the robot's tool flange as if the device was connected directly to the remote PC.

For this to work, the external PC will have to run socat to map the TCP port to a local serial device.

For example, a robot with IP address 192.168.56.101 could be accessed with the following socat command:

socat pty,link=/tmp/ttyUR,raw,ignoreeof,waitslave tcp:192.168.56.101:54321

Install on a robot

To install the URCapX on a robot, you'll need to download the latest version from the releases page. Pick the tool-comm-forwarder-x.y.z.urcapx file and copy it to a USB stick. Plug that USB stick into the robot's teach pendant and install the URCapX as usual. For usage with ROS, please see the tool communication setup guide for more information.

Warning

The ttyTool is considered a shared resource. Currently, it's up to the user to ensure that no two URCapX are trying to access the ttyTool at the same time. This could lead to unexpected behavior. See the URCapX SDK documentation for more information.

Activate tool forwarding

Important

In contrast to the PolyScope 5 version, tool forwarding has to be explicitly enabled in the applications settings. If you have installed the URCapX and you get a "Connection refused" error when attempting to remotely connect to the tool, it could be that it is inactive.

To activate tool forwarding go to the "Application screen" and scroll down to the "URCaps" section. There, select the Tool Communication Forwarder. By default, it is inactive and can be activated by pressing the "Start" button.

Tool communication inactive Tool communication active
Tool forwarding is inactive. Activate it by pressing "Start" Tool forwarding is active. Deactivate it by pressing "Stop"

Robot setup

To use the forwarded ttyTool, you will need to enable tool communication on the robot. This can be done by using the URScript functions set_tool_communication and set_tool_voltage.

For example, you can add a Script code program node to the program with the following code:

set_tool_voltage(24)
set_tool_communication(True, 115200, 0, 1, 1.5, 3.5)

Build and Deploy Sample

To build and deploy this sample, use the commands below. A rebuild of the project is required to see any changes made to the source code. If you are deploying the URCap to URSim, ensure that you have started the simulator.

Dependencies

Run this command to install the dependencies of the project.

npm install

Build

Run this command to build the contribution type.

npm run build

Installation

Run this command to install the built URCap to the simulator.

npm run install-urcap

Run this command to install the built URCap to the robot.

npm run install-urcap -- --host <robot_ip_address>