How to read a tool analog input over TCP/IP?

Technical Questions URScript
1

Hello!

I’d like to set a tool output and read an tool input over the tcp connection in python. I can connect to the robot an set the output, I however to not understand what the robot returns. This is my script:

import socket
from time import sleep

HOST = "10.8.64.249"    # The remote host
PORT = 30003              # The same port as used by the server
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((HOST, PORT))

s.send("set_tool_digital_out(0, True)\n")
sleep(0.2)
data = s.recv(100)
print ("Received", data, len(data))

s.send("get_tool_analog_in(1)\n")
data = s.recv(100
print ("Received", data, len(data))
s.close()

This is my result:
(‘Received’, ‘\x00\x00\x008\x14\xff\xff\xff\xff\xff\xff\xff\xff\xfe\x03\tURControl\x03\x03\x00\x00\x00\x01\x00\x00\x00<Jul 08 2016, 16:07:20\x00\x00\x00\x18\x14\xff\xff\xff\xff\xff\xff\xff\xff\xfe\x0c\x00\x00\x01\xe9\x00\x00\x00\xef\x01\x00\x00\x05\x1a\x10\x00\x00\x00.\x00\x00\x00\x00\x01t\x15K\xc0\x01\x01’, 100)

(‘Received’, ‘\x01\x00\x00\x00\x00\x07\x00?\xf0\x00\x00\x00\x00\x00\x00?\xf0\x00\x00\x00\x00\x00\x00?\xf0\x00\x00\x00\x00\x00\x00\x00\x00\x00\xfb\x01?\xf2:- \x00\x00\x00?\xf2:_`\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00>} \x02B?\xc2\x8fA\xe7\$A\xf5\xed\xc0\xfd\xc0\x07\x93\xce\xe8\x88Z0\xc0\x07\x93\x9c\xa8\x88Z0\x00\x00\x00\x00\x00\x00\x00’, 100)

How can I interpret this data?

2

@engelhard

The client interfaces on port 30001, 30002 and 30003 can receive individual script codes.
They constantly transmit Robot State message + some additional data depending on which interface is chosen.
Check out this topic and this Support Site article which elaborates on the client interfaces.

Generally it could be a long streak to write a communication handler for the data received from the client interfaces.
Maybe sending a small script program that opens a socket and returns the tool input state would be easier.

3

You can use the python struct library to unpack the bytestream according to the format listed in the excel sheet attached to the article Jacob listed above.

https://docs.python.org/2/library/struct.html

There’s a brief example in this comment on the Zacobria support forum:

http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/script-via-socket-connection/#comment-148516

But as Jacob said, it’s quite a lot of work and there may be simpler approaches to achieve your goals.

1 Like
4

Hey! Thanks for the link! I’m currently parsing the uint8_t * buffer I got via TCP in C++. I can parse most of the variables, I’m however not getting valid results from the float-variables.
Is there any C+±Code that shows how this data can be parsed?

1 Like