- Yarn 1.6 or above
- NodeJS 9.0 or above
- TypeScript 2.6 or above (in global)
- PolyScope 1.8
- URController 1.8
yarn buildyarn win- Complete setup, set
IPandPortRobot - You are perfect! 💞
git clone https://github.com/0xF6/UniversalRobotics.git | cd UniversalRoboticssudo apt-get install libnss3sudo apt-get install libgconf-2-4yarn win- Complete setup, set
IPandPortRobot - You are nice! 💞
git clone https://github.com/0xF6/UniversalRobotics.git | cd UniversalRoboticssudo pacman -S gconfyarn win- Complete setup, set
IPandPortRobot - You are great! 💞
- 30002 - Every 125 ms comes information about the robot, its state, information about the controller
- 30001 - Modbus port
- 29999 - Polyscope dashboard port, command port
Send via socket ASCII text command.
load <program.urp>- Load the specified program. Returns when loading has completed.play- Starts program, if any program is loaded and robot is ready. Returns when the program execution has been started.stop- Stops running program and returns immediately.pause- Pauses the running program and returns immediately.quit- Closes connectionshutdown- Shuts down and turns off robot and controllerrunning- Execution state enquiryrobotmode- Robot mode enquiry (see Robot mode)get loaded program- Which program is loadedpopup <popup-text>- The popup-text will be translated to the selected language, if the text exists in the language fileclose popup- Closes the popupaddToLog <log-message>- Adds log-message to the Log historyisProgramSaved- Returns the save state of the active program and path to loaded program file.programState- Returns the state of the active program and path to loaded program file, or STOPPED if no program is loadedPolyscopeVersion- Returns the version of the Polyscope softwaresetUserRole <role>- Control of user privileges: controls the available options on the Welcome screen. (see user roles)power on- Powers on the robot armpower off- Powers off the robot armbrake release- Releases the brakessafetymode- Safety mode enquiry (see safety modes)unlock protective stop- Closes the current popup and unlocks protective stopclose safety popup- Closes a safety popupload installation- Loads the specified installation file.
NO_CONTROLLER_MODE = -1
ROBOT_RUNNING_MODE = 0 (This is "normal" mode)
ROBOT_FREEDRIVE_MODE = 1
ROBOT_READY_MODE = 2
ROBOT_INITIALIZING_MODE = 3
ROBOT_SECURITY_STOPPED_MODE = 4
ROBOT_EMERGENCY_STOPPED_MODE = 5
ROBOT_FAULT_MODE = 6
ROBOT_NO_POWER_MODE = 7
ROBOT_NOT_CONNECTED_MODE = 8
ROBOT_SHUTDOWN_MODE = 9NORMAL
REDUCED
PROTECTIVE_STOP
RECOVERY
SAFEGUARD_STOP
SYSTEM_EMERGENCY_STOP
ROBOT_EMERGENCY_STOP
VIOLATION
FAULT
programmer = In Setup Robot, buttons "Update", "Set Password", "Network", "Time" and "URCaps" are disabled, "Expert Mode" is available (if correct password is supplied)
operator = Only "RUN Program" and "SHUTDOWN Robot" buttons are enabled, "Expert Mode" cannot be activated
none ( or send setUserRole) = All buttons enabled, "Expert Mode" is available (if correct password is supplied)
locked = All buttons disabled and "Expert Mode" cannot be activated
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