Hi there,
We are trying to get I/O information from the robot via RTDE. But the library doesn’t give us possibility to write the script correctly ( Real-Time Data Exchange (RTDE) Guide - 22229 (universal-robots.com)).
Do you have any recommendation what we can do?
Regards,
Giorgi
The best way is using RTDE.
I had uploaded the sample for monitoring the IOs.
Please refer from the sample category.
Thanks for response.
In the sample category from the link mentioned above? Honestly I couldn’t find there a sample for getting I/O’s with rtde via python.
Also, I couldn’t find the function in library neither.
RTDE code in my sample is written by java.
Thanks for the sample.
I mainly look for possibilities for python3. Unfortunately I couldn’t find it anywhere. Libraries supplied by UR website doesn’t give a possibility to get such kind of information.
Below is how I modified the record.py script to read I/O’s
#!/usr/bin/env python
“”"
Python script record_v00_r01.py was modified from script
record.py on 4/6/23 by
sys.path.append(“…”)
import rtde.rtde as rtde
import rtde.rtde_config as rtde_config
import rtde.csv_writer as csv_writer
import rtde.csv_binary_writer as csv_binary_writer
parser = argparse.ArgumentParser()
parser.add_argument(
“–host”, default=“172.16.5.38”, help=“name of host to connect to (localhost)”
)
parser.add_argument(“–port”, type=int, default=30004, help=“port number (30004)”)
parser.add_argument(
“–samples”, type=int, default=0, help=“number of samples to record”
)
parser.add_argument(
“–frequency”, type=int, default=10, help=“the sampling frequency in Herz”
)
parser.add_argument(
“–config”,
default=“record_configuration.xml”,
help=“data configuration file to use (record_configuration.xml)”,
)
parser.add_argument(
“–output”,
default=“robot_data.txt”,
help=“data output file to write to (robot_data.txt)”,
)
parser.add_argument(“–verbose”, help=“increase output verbosity”, action=“store_true”)
parser.add_argument(
“–buffered”,
help=“Use buffered receive which doesn’t skip data”,
action=“store_true”,
)
parser.add_argument(
“–binary”, help=“save the data in binary format”, action=“store_true”
)
args = parser.parse_args()
if args.verbose:
logging.basicConfig(level=logging.INFO)
conf = rtde_config.ConfigFile(args.config)
output_names, output_types = conf.get_recipe(“out”)
con = rtde.RTDE(args.host, args.port)
con.connect()
con.get_controller_version()
if not con.send_output_setup(output_names, output_types, frequency=args.frequency):
logging.error(“Unable to configure output”)
sys.exit()
if not con.send_start():
logging.error(“Unable to start synchronization”)
sys.exit()
writeModes = “wb” if args.binary else “w”
“”"
Open a text file and format it as a comma-separated values
(CVS) file but seperated by a tab (\t) with the following
fields:
Datetime
Robot Status
Robot Safety Status
Digital Output State
Save the file with the name ‘Assembly Robot Data (crrent
date time) csv.txt’
“”"
lostSheet = False
dt = now.strftime(“%Y-%m-%d %H.%M.%S”)
f1 = open(“Assembly Robot Data “+dt+” csv.txt”, “a+”)
f1.write(“Datetime\tRobot Status\tRobot Safety Status\tDigital Output States”)
with open(args.output, writeModes) as csvfile:
writer = None
if args.binary:
writer = csv_binary_writer.CSVBinaryWriter(csvfile, output_names, output_types)
else:
writer = csv_writer.CSVWriter(csvfile, output_names, output_types)
writer.writeheader()
i = 1
keep_running = True
while keep_running:
#if i % args.frequency == 0:
#if args.samples > 0:
#sys.stdout.write("\r")
#sys.stdout.write("{:.2%} done.".format(float(i) / float(args.samples)))
#sys.stdout.flush()
#else:
#sys.stdout.write("\r")
#sys.stdout.write("{:3d} samples.".format(i))
#sys.stdout.flush()
if args.samples > 0 and i >= args.samples:
keep_running = False
try:
if args.buffered:
state = con.receive_buffered(args.binary)
else:
state = con.receive(args.binary)
if state is not None:
#dt = str(datetime.datetime.now())
dt1 = datetime.now()
dt2 = dt1.strftime("%Y-%m-%d %H:%M:%S")
#print dt
#print '********************************************************'
status = format(state.robot_status_bits, 'b')
#print 'Robot status binary bits = ',status
#print 'Lenght of robot status binary bits word = ',len(status)
#print '---------------------------------------------------------'
safety = format(state.safety_status_bits, 'b')
#print 'Robot safety status binary bits = ',safety
#print 'Lenght of robot safety status binary bits word = ',len(safety)
#print '---------------------------------------------------------'
IO = format(state.actual_digital_output_bits, 'b')
#print 'Output IO binary bits = ',IO
#print 'Lenght of robot output IO binary bits word = ',len(IO)
#print dt2+'\t'+status+'\t'+safety+'\t'+IO
f1.write('\n'+dt2+'\t'+status+'\t'+safety+'\t'+IO)
"""
Print to the console when the red light is
turned on which means a sheet was lost.
"""
if len(IO) >= 5:
if IO[len(IO)-3] == '1' and lostSheet == False:
print "Lost sheet "+dt2
f1.write("\nLost sheet "+dt2)
lostSheet = True
if IO[len(IO)-3] == '0' and lostSheet == True:
print "Lost sheet issue cleared "+dt2
f1.write("\nLost sheet issue cleared "+dt2)
lostSheet = False
#writer.writerow(state)
i += 1
except KeyboardInterrupt:
keep_running = False
#KeyboardInterrupt is CTRL + C or CTRL + Z
# while in the consule panel
except rtde.RTDEException:
con.disconnect()
sys.exit()
sys.stdout.write(“\rComplete! \n”)
f1.close()
con.send_pause()
con.disconnect()
Also you’ll need to modify the record_configuration.xml as follows:
<?xml version="1.0"?><rtde_config>
</recipe>
</rtde_config>