🌀 UR5 Platform 🚀 v0.46 Beta

Dependences 🌜

1. Yarn 1.6 or above
2. NodeJS 9.0 or above
3. TypeScript 2.6 or above (in global)

Hardware 🔥

1. PolyScope 1.8
2. URController 1.8

Install 💦

1. yarn build
2. yarn win
3. Complete setup, set IP and Port Robot
4. You are perfect! 💞

Ubuntu 16.04 xenial

0. git clone https://github.com/0xF6/UniversalRobotics.git | cd UniversalRobotics
1. sudo apt-get install libnss3
2. sudo apt-get install libgconf-2-4
3. yarn win
4. Complete setup, set IP and Port Robot
5. You are nice! 💞

Arch Linux

0. git clone https://github.com/0xF6/UniversalRobotics.git | cd UniversalRobotics
1. sudo pacman -S gconf
2. yarn win
3. Complete setup, set IP and Port Robot
4. You are great! 💞

Informations 🕸

Ports:

1. 30002 - Every 125 ms comes information about the robot, its state, information about the controller
2. 30001 - Modbus port
3. 29999 - Polyscope dashboard port, command port

29999 || 30001 Port, commands

Send via socket ASCII text command.

1. load <program.urp> - Load the specified program. Returns when loading has completed.
2. play - Starts program, if any program is loaded and robot is ready. Returns when the program execution has been started.
3. stop - Stops running program and returns immediately.
4. pause - Pauses the running program and returns immediately.
5. quit - Closes connection
6. shutdown - Shuts down and turns off robot and controller
7. running - Execution state enquiry
8. robotmode - Robot mode enquiry (see Robot mode)
9. get loaded program - Which program is loaded
10. popup <popup-text> - The popup-text will be translated to the selected language, if the text exists in the language file
11. close popup - Closes the popup
12. addToLog <log-message> - Adds log-message to the Log history
13. isProgramSaved - Returns the save state of the active program and path to loaded program file.
14. programState - Returns the state of the active program and path to loaded program file, or STOPPED if no program is loaded
15. PolyscopeVersion - Returns the version of the Polyscope software
16. setUserRole <role> - Control of user privileges: controls the available options on the Welcome screen. (see user roles)
17. power on - Powers on the robot arm
18. power off - Powers off the robot arm
19. brake release - Releases the brakes
20. safetymode - Safety mode enquiry (see safety modes)
21. unlock protective stop - Closes the current popup and unlocks protective stop
22. close safety popup - Closes a safety popup
23. load installation - Loads the specified installation file.

Robot modes

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 = 9

Safety Modes

NORMAL
REDUCED
PROTECTIVE_STOP
RECOVERY
SAFEGUARD_STOP
SYSTEM_EMERGENCY_STOP
ROBOT_EMERGENCY_STOP
VIOLATION
FAULT

User roles

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

License