I have a UR16E robot, I want to use script to send Force Copilot to insert an action program, and send it to the robot through port 30002 to control the robot’s work, how do I write a script program?
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Hi @mjzhang,
If it is the Force Copilot from Robotiq. The script definition is in the PolyScope programe. I think the easiest way would be to use the GitHub - UniversalRobots/Universal_Robots_ExternalControl_URCap: CB3 and E-Series URCap for the ROS and ROS2 drivers that can then fetch your script from where you prefer.
Ebbe
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ok,.I’ll give it a try, thanks!
Sorry, I didn’t find the script I was looking for. Maybe you misunderstood what I meant, I want the e-series robot to use robotiq’s Force Copilot to send program scripts by connecting to port 30001, now the problem is that when using scripts to send, the script program should connect to the force sensor which port number and what is the function of inserting the exploration, this problem makes me very troubled.
As I see it. Your challenge is that you are missing the URscript that Robotiq is generating from their URCap. My suggestion was to send your URScript to the external control URCap.
You could also include the Robotiq generated code in your URScript if that is more convinient for you.
In that case PolyScope is generating a .script file every time a program is started.
I’ve also used script sending, which is modified by the script generated by the .urp file, but the problem is that there is a connection xml in the script more than 800 lines, in which the port number will change every time the robot is shut down, and the port number used after this boot is used last time the robot boots up will report an error, which makes me very confused, and the script generated by the .urp file is very long, more than 3,000 lines, very troublesome. We look forward to hearing from you again
I see you challenge. It is basically Robotiq that is generating all the scriptlines and determines the port number.
My inital suggestion was a structure like this:
When the program is started the ExternalControl URCap connects to the host and receives the URScript that it will add to the PolyScope program. In this way Robotic definitions will already be in the program and you can utilize them. I am still considering that as a potential solution for your challenge.