Get TCP speed while program is running?

Technical Questions
1

Hello!

What is the best way to get the TCP speed with Python while a URP program is running?
I know how to do a UR-Script sending stuff via TCP but as far as I know I cannot run an URP program and UR script at the same time??!

What would be the best solution?

2

The Python Real Time Data Exchange (RTDE) will allow you to constantly exchange any available information from the robot:
https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/

And on github:

actual_TCP_speed is a VECTOR6D type of data which corresponds to:

  • x_axis speed in m/s
  • y_axis speed in m/s
  • z_axis speed in m/s
  • x_rotational speed in rad/s
  • y_rotational speed in rad/s
  • z_rotational speed in rad/s

And you can manipulate it like you would do with any list.

Hope it helped :slight_smile:

3

Cool than you but is this libary also working with old CB2 and Polyscope 1.8 ?

4

I think it will only work on the newer e-Series.
:frowning:

5

I just added a thread into the program sending the TCP speed via socket to the raspberry pi. Works fine!