I just wanted to ask if you have ever done an URCap that is showing the force value from the force sensor present in eSeries. If you did it, I would have some questions, maybe you have some example code to share
What are you trying to display? There are two native functions in URScript that will display the forces,
get_tcp_force() returns a list of the 6 forces as
[Fx, Fy, Fz, Tx, Ty, Tz] or
force() which returns the normal force using
Yes, exactly. The second one, and I would like to display it on URCap.
Where on a URCAp are you trying to display it?
In the toolbar node.
Any hints or example’s code?
You can get some hints by going through the URCaps SDK specific swing/html examples from the “URCapsStarterPackage”. The “URCapsStarterPackage” can be downloaded from the following website link and used as a virtual machine.
- URCapsStarterPackage => https://plus.universal-robots.com/download-center/urcaps-starter-package/
Assuming you have the “URCapsStarterPackage” running as a virtual machine on your host machine. When you go to the home folder of the “URCapsStarterPackage”, you will find a child folder ‘sdk’. There you will find the URCaps SDK specific swing/html examples. For more details, please refer to the following Figures 1 and 2.
Figure 1: Path to the swing and html folders which contain respective examples of URCaps SDK
Figure 2: Path to the swing examples of URCaps SDK
You can get the values by using “actual_TCP_force” of RTDE.