Skip to content
This repository has been archived by the owner on Jul 10, 2018. It is now read-only.

Latest commit

 

History

History
132 lines (96 loc) · 4.33 KB

README.md

File metadata and controls

132 lines (96 loc) · 4.33 KB
Raw

🌀 UR5 Platform 🚀 v0.46 Beta

image FOSSA Status

image

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

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

Arch Linux

  1. git clone https://github.com/0xF6/UniversalRobotics.git | cd UniversalRobotics
  2. sudo pacman -S gconf
  3. yarn win
  4. Complete setup, set IP and Port Robot
  5. 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

FOSSA Status