Connecting UR3e & Raspberry Pi 4 with Ethernet

General Application Help: How do I?
1

Hi everyone,

I am currently working on trying to connect the UR3e robot with a Raspberry Pi 4 with a ethernet cable. Last month I was able to have success and send code from the Raspberry Pi to the robot but I am not having that same type of success currently. My current process of connecting both is as follows:

  • Turn on both UR3 and Raspberry Pi 4 (having an Ethernet cable running into both)
    UR3e robot
  • Activate arm and have it in “Remote” mode. The IP address: 192.168.1.2 and netmask: 255.255.255.0
    Raspberry Pi
  • In a command prompt I enter “sudo ifconfig eth0 192.168.1.2 netmask 255.255.255.0” until there’s a connection. I also ping the IP to make sure there is connection.
  • Open Thonny and run my code:
    Import urx
    rob = urx.Robot(“192.168.1.2”)

After the code I get Tracebacks and a connection refused error. Is there any way to fix this issue or simplify the process if possible? I’m relatively new to all of this so I might be missing something simple.

2

What is the ip of the RPi?
Are you using RTDE commands on port 30004 or how do you actually exchange data with the robot?