I am trying to program our UR5e using python. I found RTDE as an option to connect to robot through IP.
Use case: Control robot to tap on a POS device and work on application functionality on the same android device.
Challenges : 1.Not yet found clear instructions on RTDE GUIDe to program.
2. Referring the below tutorial i downloaded rtde-2.3.6 and running rtde_control_loop.urp on the robot and started running example_control_loop.py on my computer. But no connection result is null and is not successful.
I tried debugging and changed below options but no luck.
I was using 2.7.x and version of Pthon. I upgraded Pytjom to 3.10.x and the program seem working.
I am able to connect to the ip and port and able to get the current TCp.
I am executing example_control_loop.py and sending new set point details followed by sending a watchdog.
From rtde_contoll_loop, i modified setp to a fixed point since the Tool_const resulting in an exception.
My current challenge is i am sending new point details through RTDE and from the robot side rtde_controller _loop is not picking and moving and jumping betweek like 6 and line 10 in the attached ur script screenshot.
It would be helpful if we a good documentation about RTDE.
And could you explain rtde_controller loop functional and watch dog to .
From the below manual /page 92 /note , the upper range is for external RTDE clients.
My challenge was , I was using the same example provided in RTDE page with input registers from 0to 6 and data was not sent to the robot. After changing the output registers to 24 to 29 , the example program provided started working.
It would be good if the range details are added to the RTDE guide.
Note: The lower range of the float input registers [0:23] is reserved for FieldBus/PLC interface
usage. The upper range [24:47] cannot be accessed by FieldBus/PLC interfaces, since it is
reserved for external RTDE clients.