how I can read a signal , set the signal on / off and (if it was possible to) set a point or a variable, Through a python script.
if you can i need a deep explaination of the procedure if external libraryes are needed.
thanks a lot!
Hi @francesco.menci, the RTDE interface is the preferred method for this kind of interaction with the robot. Check out the python samples at the bottom of this page:
the example of rtde communication is really dispersive and the examples are not very clear to me. I was wondering if it was possible to have an example of how to switch on / off a bit, check the status of a bit and set the coordinates of a pick point
An example of your use case in python would be something like:
import rtde_receive import rtde_control rtde_r = rtde_receive.RTDEReceiveInterface("127.0.0.1") rtde_c = rtde_control.RTDEControlInterface("127.0.0.1") # Set standard digital out rtde_c.setStandardDigitalOut(0, True) # Get standard digital output bits, returns current state of the digital outputs. 0-7: Standard, 8-15: Configurable, 16-17: Tool rtde_r.getActualDigitalOutputBits() # Mask the bits you want. # Go to a pick point pick_point = [-0.143, -0.435, 0.20, -0.001, 3.12, 0.04] speed = 0.5 acceleration = 0.3 rtde_c.moveL(pick_point, speed, acceleration)
Checkout the documentation with examples and API here: https://sdurobotics.gitlab.io/ur_rtde/index.html