I’m currently using port 30003 for realtime data, and would like to use the URScript function get_inverse_kin. Question is:
How do I get the function-calls return-data? What interface do I need to use?
Here is a list of available interfaces https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/remote-control-via-tcpip-16496/
Try to send the urscript commands terminated in ‘\n’ character.
I know how to call URScript functions, I do that on port 30003, however I do not know how to or where to recieve the results of a function call. All interfaces only send back the current robot state, not the answer to the function call. Or am I missing something?
You haven’t missed anything, you need to take additional steps to make the returned values accessible. If you put your get_inverse_kin() command within a function you can then either open a socket to send the results back to your server or write them into one of the general purpose registers that you can then access through the RTDE.