Get Input/Output Value

Technical Questions
1

Greetings URCommunity,
I am developing a C# app in which I would like to have a feedback from the robot on the state of inputs/outputs (i.e. to know every 2 seconds if the digital_in(1) is 0 or 1). I’ve managed to get the Joint Positions as well as the Base coordinate, but I can’t seem to find anything for getting the value of an input or output. Any help is much appreciated.
Best regards,
Pedro Monforte

1 Like
2

Hello @PMonforte

What interface are you currently using to get the joint positions and base coordinates?

sko

3

Hi sko,
I know I was not very specific in the question, but I am quite new to this and thus have some issues explaining myself more appropriately. I have uploaded an image with the code part from which I get the Jointdata. It is through port 30013 (Real-Time interface, I think)

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g1093×743 103 KB

Any help is much appreciated
Best regards,
Pedro Monforte

4

I believe you would just use values 86 (digital inputs) and 131 (digital outputs) similar to how you have done the rest. These would just come as a byte where each bit represents their respective Input/Output.

5

Hello @PMonforte

Thank you for providing additional insights!

You can get a complete overview of our available interfaces and what data they hold in the correspondent support article.
There you can also find further documentation on the exact data streamed.

6

RTDE is the interface recommended by UR for efficiently reading data, such as inputs and outputs.
Then, since you’re in C#, if you want to go fast, you can take a look at this library, which does the connection handling and binary decoding for you, and offers you named RTDE objects of the right type in C#:

https://underautomation.com/universal-robots/documentation/rtde