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
Copyright (c) 2020-2022, Universal Robots A/S,
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universal Robots A/S nor the names of its
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL UNIVERSAL ROBOTS A/S BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
“”"
Python script record_v00_r01.py was modified from script
record.py on 4/6/23 by
- Write data to a text file
- Set a condition to print to the console when a
simulated red tower light is turn on which means
lost sheet on the UR5 Machine Tending of the Spartanics
Auto-Punch machine.
Python script record_v00_r02.py was modified from script
record_v00_r01.py on 4/6/23 by - Set the condition to print only once to the console
when a simulated red tower light is lit. - Set another condition to print only once to the
console when the lost sheet issue is cleared. - Write both condition to the text file.
Python script record_v00_r03.py was modified from script
record_v00_r02.py on 4/10/23 by - Send alert with email.
“”"
import argparse
import logging
import sys
from datetime import datetime
now = datetime.now()
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
parameters
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()
get controller version
con.get_controller_version()
setup recipes
if not con.send_output_setup(output_names, output_types, frequency=args.frequency):
logging.error(“Unable to configure output”)
sys.exit()
start data synchronization
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>