RTDE - Advice which example to use

Technical Questions
1

I have just recently connected to a UR5 CB3 using the RTDE record.py example script. I have determined for right now I need only three recipes:

  1. actual_digital_output_bits
  2. robot_status_bits
  3. safety_status_bits

I want to develop a way to inform me as I sit at my desk that the robot needs attention. The robot is being used for machine tending so it is on its own unless it runs out of parts or needs attention because of a problem. I do have a signal tower that is a alert when attention is needed. I was using a Visual Factories unit for this purpose but our company only wants to use the units for production monitoring and not alerts.

My question is should I continue modifying record.py example script or should I modify the example_control_loop.py script?

Regards,

2

You can create a conditional that’ll send an email to yourself.

I tested this using an e-series for fun. I modified record.py to include my EmailSender class and a conditional at the bottom. If the output bits change then an email is sent to me with the data.

output-onlineimagetools
output-onlineimagetools942×491 27 KB

3

@smarmstr thanks for the advice. I was hoping to continue modifying the record.py script. The next phase is to write data from the machine tending process to analyze. I currently do this by writing to the log and using the magic programs to download the log. This requires a number of different steps to filter out the unusable data. It would be better to have the data process as it is being generated.