Check if robotsystem is virtual or real

Technical Questions
1

Is there a solution,

how to detect in a variable, or … in the script code, weather the Robot run on virtual or real controller ?

2

I have never found that out through standard URSCript code.
But I have seen a difference while transfering files through the network, using the Linux terminal:

  • Programs in physical robots are stored in: root@$IP_ADD:/programs
  • Programs in URSim (VirtualBox) are stored in: ur@$IP_ADD:/home/ur/ursim-current/programs.$UR_MODEL

So if you need to check whether a robot in a specific IP address is a real robot or URSIM, you could make a bash script, that tries to execute the cd command to one of those directories and see if it fails/succeeds.

3

Hi cags,

Thanks for this info, but it is not the goal what we need.

We want to keep the the robot code similar if we run it on real or simulated.

At the moment we do so, see below at example code to set a bool variable b_virtRobot manualy at the robot.

def _3mvGrpOpen(grp_mm,grp_force,grp_speed):

i_grp_fc_out = grp_force
i_grp_spd_out = grp_speed

if b_virtRobot== True:
   sleep(0.5)
   i_grp_mm_out = grp_mm	
else:
   rq_set_force(grp_force)
   rq_set_speed(grp_speed)
   rq_move_and_wait_mm(grp_mm)
end

end

so the Robot should detect self, may be in a task weather real or simulated.

Thanks in foreward