Control Robot via ethernet

Technical Questions
1

Hi,

i want to write a program on my computer that controls the UR10e-robot via ethernet-cable.

How can I do something basic linke this using the ethernet-connetion ?

  • start/stop the program on command
  • Set Pin xyz to 1 or 0

Does it make sense to use Modbus for this task or does it also work without modbus ?
I use Qt on Windows 10 to write the program in C++. In Qt there are all kinds of possibilities to use network-connections in Qt.

Maybe somebody can show me some example-code (not only in C++, but also other languages) so I can understand how it works .

thanks,

2

for starting / stoping the robot you can use the Dashboard server
see Dashboard Server e-Series, port 29999 - 42728

you can use Modbus for this also but its whatever your comfortable with.

3

Thanks.

I was able to establish a connection and use dashboard-commands.
I released the breaks and loaded a program. That worked very well.

But I didn’t find a command to e.g. set Output 2 to 1. How would that be done with dashboard server ?

Thanks a lot,

4

Unfortunately you can’t controll Digital outputs from the Dashboard server.

To do that you will need to use one of the other interfaces like
RTDE port 30004
Primary / Secondary client interface. Ports 30001 / 30002

to do that.

https://www.universal-robots.com/articles/ur/interface-communication/overview-of-client-interfaces/

5

Thanks for your reply.
Is there a tutorial or example on how to use the primary-client interface with c++ ?

6

Not that I know of but Youtube often has videos on stuff like that.