Hello everyone,
I managed to connect my windows Pc with my ur3e and now I can read all kinds of data using the following Python script:
What I do is, I read the tcp pose and the timestamp and convert it into csv file, while my robot runs a URscript, where it drives from waypoint to waypoint.
My URScript works perfectly fine, and a local int variable “counter” counts after every loop. Now I want to read the variable the same way I do with the tcp pose and add it into the csv file.
It seams like to achieve my goal I should use the I/O Setup in the installation tab and read the output register, but I’ve only been able to receive 0 and 1 and not my local int variable.
Am I on the right path, or should I try something else.
I would be glad for any kind of help
Best regards,
Jemsey
Hi Jemsey,
I think there is no need to use the I/O Setup in the installation tab.
If from your URscript you write the counter variable in a general purpose output integer register, let’s say register 24:
write_output_integer_register(24, counter)
then you should be able to read it from the RTDE client looking for the rtde output output_int_register_24.
I’ve never used the python client but this is what I do with my client written in C++.
I hope I have correctly understood your question
Hi Claudia,
thanks al lot you really helped me out, this is exactly what I needed. It works all perfectly fine now, thanks again.
Best regards,
Jemsey
Hi,
if the sensor you are using is writing an RTDE input (or output) register, for example register 24 as above , you can read it from URScript using the function read_input_float_register(24), or read_output_float_register(24) if the sensor writes on an output register.
Otherwise from an external RTDE client you should look for the variables input_double_register_24 or output_double_register_24
thank you! I will have a try! 