Hey, I am using a UR3e robot, and I am trying to communicate through URCaps with my Custom end-effector tool, using RS485. I want to build my own URCaps where I can select different states, which are then sent to my Custom end-effector tool via RS485. Does anyone have a simple example how I could d…

Yes, this URCap implements a python daemon that has 2 main functions: Implements and handles all of the RS485 communication. Creates and runs a parallel process with a XML-RPC server, which is for communicating the daemon with Polyscope. Then, on the URCap source java files: The DaemonInstallat…

I do not use RS485 myself, but I found this URCap example that might be useful to you: [image] URCap Sample: Tool Modbus RTU URCap URCap Development Here is a sample demonstrating how implement a Modbus RTU connection on the tool connector:

[image] simon.s.fuchs: Custom end-effector tool If I understand correctly, this is a Python daemon, with which I can then communicate with my custom end-effector tool via URScript (script code?) is that correct? Is there also a way to send individual signals directly to my custom end-effector…

[image] cags: custom tool First, thank you for your help and sorry if I don’t understand all of this right away. First, you define a new function, where I define the value I want to transfer. After that, the function will be added to the server. So that I can access it, I have to add a new fu…

Yes, you understood it right. About what you want to do, you can make a URCap with a view node, which the user drops on the program and it executes URScript commands underneath everytime the program reaches there. To learn the basics about how to create a view node, here is a URCap tutorial . This …

Thank you for your help, I’ll try it in the next few days when I can work on the robot again

Hi! I have a question about how to define new functions. I would like to write a function that handles writing/reading to/from multiple register. Something like this. ------------------------ modbus_xmlrpc.py ------------------------ def tool_modbus_write(register_address, data): try: global i…

RS485 tool communication with URCap

Technical Questions Robot Communication

cags February 7, 2022, 7:29am 2

I do not use RS485 myself, but I found this URCap example that might be useful to you:

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RS485 tool communication with URCap

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