Universal Robots Forum

Reading the voltage value information on the Tool Output, Primary Client interface

I have the task in the external application created on the PC to read the current voltage value in Tool Output.
I would like to use the Primary Client interface.
I see that this is possible through:
packageType = ROBOT_STATE_PACKAGE_TYPE_TOOL_DATA = 2

I do not know how to force UR to send this Tool data. Unfortunately, when I read data through the Primary Client, I do not receive this type of data at all. I get other data, eg char packageType: 20,24,23,16,25,5 but I have never received packageType = 2.

Do you have any advice?
Thanks!

Tool Data is part of the Robot State message type.
Robot State is message type 16.
So you should first look for the message type 16 (Robot State), and subsequently Package Type 2.

image

Thank you very much for help