Communication TCP/IP with windows form (c#)

Technical Questions Robot Communication
1

Hello,

I developed the program for a screwing cell with a UR5 (ip: 192.168.1.1)
The cobot program have different variables which allow me to supervise the production. However I have to retrieve its values ​​manually to update my dashboard.

I would like to automate the data recovery by creating an application widows form (C#) with visual studio. However, I have a problem by creating communication between the cobot and the software.
I just want understand how to create the communication, thanks to that I will continue the development of my application.

The principle :
the cobot sends " My_Socket" : Nb_Produit;Nb_Defaut;Val_Couple ==> for example (5264;8;1345)
socket_open(“192.168.1.159”, 2400, “socket_2400”)
socket_send_string(“My_socket”, socket_2400)
socket_close(“socket_2400”)

The application receives “My_Socket” on port 2400

Do you have an example of C# code to retrieve a socket from the cobot?

Could one of you maybe help me with this or point me in the right direction?

Best regards,
Quentin,

2

Using a raw socket is possible, but it’s quite tedious. The easiest way would be to read variables and update them with your robot program.
You can also use RTDE to read registers.

Take a look at this library that allows you to read and write information to the robot in just a few lines of C# :

For example, to read the value of a variable :

using UnderAutomation.UniversalRobots;

var robot = new UR();
robot.Connect("192.168.0.1");

// Read variable called "myVar"
var request = robot.Dashboard.GetVariable("myVar");

if (request.Succeed)
{
            GlobalVariable variable = request.Value;
            // variable.Name
            // variable.Type
            // variable.Value
            // variable.ToMatrix();
            // variable.ToFloat();
            // variable.To...();
}