Universal Robots Forum

Sending floats from the robot controller through TCP/IP?

Hello!
I cannot see in the manual anything about a function inversely similar to socket_read_ascii_float, which is a nice work around string parsing functions, but what about the contrary, sending ascii floats in a similar format?
Do you see any way around this? I’d like to read the actual pose of the robot, then send its coordinates to a system through TCP/IP. The system can only read/parse ascii characters, and the ideal I believe would have been to convert the whole coordinates into a string to send…
Thanks

Sending a floating point number over TCP socket is not supported by URScript.
The simplest solution is to multiply the floating point number with e.g. 10000, thus omitting insignificant digits,a nd sending it as an integer.

In example, you could use a URScript function like:

def getPose():
	p = get_actual_tcp_pose()
	socket_open("127.0.0.1",33000,"ms")
	socket_set_var("myX",p[0]*100000,"ms")
	socket_set_var("myY",p[1]*100000,"ms")
	socket_set_var("myZ",p[2]*100000,"ms")
	socket_close("ms")
end

This program would open a socket to localhoston port 33000 and send the X, Y and Z data.
The server would read:

SET myX 12345
SET myY 23456
SET myZ 34567

All would be ASCII chars.

(Valid for URSW 3.3.0.145)

Note:
Specifically for reading the robot TCP position, consider the RTDE or client interfaces if you have the possibility.

3 Likes