Read out pop-up messages of the robot remotely

Technical Questions URScript
1

Hello UR-society.

Robot is controlled remotely in our current project, primary interface for sending the command/script and RTDE to control/monitor the robot movement.
Is there possibility to read-out pop-up messages remotely? If not, is there any way to see what is written in pop-up message?

Thanks in advance,
Giorgi

1 Like
2

Hi Giorgi,

I am running into the same problem. Were you able to find a way at the end?

Thanks!
Eva

3

Actually there is no way direct to read the popup text but you can read out why the popup comes up by reading the Safetystatus with Dashboard server.
I do not see the need to read what the popup exactly says but this is maybe a workaround.

ds = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # configure Connection
ds.settimeout(1) # set timeout
robot_ip = '192.168.1.2' # replace with your robot IP
port = 29999 # Dashboard server Port
ds.connect((self.robot_ip, self.port)) # Connect robot

ds.send(ds.sendall('safetystatus\n'.encode()) # Ask for the safetystatus
print(ds.recv(4096).decode()) # print the response

Possible responses will be:
“Safetystatus: ”, where status is
• NORMAL
• REDUCED
• PROTECTIVE_STOP
• RECOVERY
• SAFEGUARD_STOP
• SYSTEM_ EMERGENCY_STOP
• ROBOT_ EMERGENCY_STOP
• VIOLATION
• FAULT
• AUTOMATIC_MODE_ SAFEGUARD_STOP
• SYSTEM_THREE_ POSITION_ ENABLING_STOP

Through Dashboard server you can also unlock protective stops and close the popup.
If you really need to read the popup text, then i would recommend to do this with ssh connection and read the log which contains same messages as the popups.

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4

Hi Eva,

My solution isn’t reading popup message directly, but I read out safety status of the robot. I use this way since 7-8 month and works perfectly. Benjamin has explained this better down in this topic.

regards,
Giorgi

1 Like
5

Thank you for the clarification.

I want to read the error pop-up message as I am using an URCap from Robotiq screwdrivers solution, a failed case results in a pop-up message on the UR teach pendant, which allows the user to choose between ‘stop the program’ and ‘continue the program’.

I have been using ROS & Dashboard services to monitor the robot status during the error pop-up, and unfortunately, it is in the state of ‘RUNNING’.

So I decided to set a variable in the pendant, send that variable to my PC through the dashboard service and send that variable to my own Linux App, which then create my own version of the pop-up window.

Thank you so much for your help!