I am trying to use the UR5 robot with clearpath ridgeback robot. It is communicating. The connections are all done. I am trying to program it to do a handshake first so that I can ask the UR5 robot to do a certain task when the clearpath robot is at a certain point. How do I do that? Thank you all in advance.
There’s a couple methods you could use. What I’ve done in the past is use the socket_read command or use one robot to switch on an IO signal that the other robot can read.
For the socket_read command, use an infinite timeout so the UR waits until it receives a signal or use a short timeout (for better error handling) and put it in a loop until the correct response is received. If you go this route, look up the commands in the URScript manual. I like to use socket_read_string, but there are a couple other types for different data.
A potentially easier method, especially if there is a PLC in your system, is to have the UR looping a wait command until the other robot sets a signal high.
@EV1 Thank you for this. I will look up this way.