Return values from URScript

Technical Questions Robot Communication
1

Hi, I have successfully been able to send URScript commands to the robot via the primary interface, and can read the returned byte stream. However, I do not know where to read return values from URScript commands, such as is_steady which returns a bool or get_actual_tcp_pose which returns a 6d vector. Where do I see these return values?

2

Where do you want to “see” this return values?

3

Hi, I have the same problem. I am using ur_rtde python package to control the robot. I can use sendScriptCommand (const std::string &cmd_str ) to send script to the controller. But I want to use ur math of script command to do some calculation on tool vector. I don’t know how I can get the return value after sending the script.

4

Primary Interface does not return values. On the other hand, many information are streamed (positions, status, inputs and outputs, …)
Alternatively, to get the result, you can put it in a variable and get this variable from Primary Interface (or Dasboard server).

For example with this library, it would look like :

var robot = new UR();
var param = new ConnectParameters("192.168.0.56");
param.PrimaryInterface.Enable = true;

// connect to the robot with Dashboard and Primary Interface protocols
robot.Connect(param);

// Remote execute script that sets variable "myVar"
robot.PrimaryInterface.Script.Send("global myVar = get_actual_tcp_pose()");

// wait program execution
Thread.Sleep(1000);

// Read MyVar value
var myVarValue = robot.PrimaryInterface.GlobalVariables.GetByName("myVar");

// if myVar exists in the robot
if (myVarValue != null)
{
    // As myVar is here a pose, you can cast it to a pose object
    Pose myVarPose = myVarValue.ToPose();

    Console.WriteLine($"X = {myVarPose.X}");
    Console.WriteLine($"Y = {myVarPose.Y}");
    Console.WriteLine($"Z = {myVarPose.Z}");
    Console.WriteLine($"Rx = {myVarPose.Rx}");
    Console.WriteLine($"Ry = {myVarPose.Ry}");
    Console.WriteLine($"Rz = {myVarPose.Rz}");
}