Trigger Digital Output from Installation node

Technical Questions Robot Communication
1

Hello,

I am trying to create a URCaps that can toggle I/O states depending on the robot status while a program is not running.

For example, if the robot E-Stop is triggered, toggle an output to True, even if the robot is idle.

Does anyone know the easiest way to get this done? I tried using URscript through the ScriptWriter, however this script is only generated when the program runs.

Thanks,
Tyler

2

It is possible to toggle an output to True by accessing to port 30003.

void sendCommand() {
    try {

        Socket socket = new Socket("127.0.0.1", 30003);
        socket.setSoTimeout(1000);

        PrintWriter writer = new PrintWriter(socket.getOutputStream(), true);

        String command = "write_output_boolean_register(0, True)";

        if (socket.isConnected()) {

            writer.println(command);
            writer.flush();

        }

        socket.close();
        writer.close();

    } catch (Exception e) {
        System.out.println(MESSAGE_HEADER + e.getMessage());
    }
}
3

@fujikit,

Thank you for your reply! I tried your code and was able to get it to work.

Is there a way to run this in the background while this installation page is not open? Or would I have to accomplish this with the use of a Daemon?

4

It need not use daemon to run in the background.

Is can be realized by the thread running on constructor of installation contribution.

5

Thank you for your help so far. I’m sure I understand how to run a thread inside the constructor? Could you provide a short snippet of code to help me understand?

Thank you so much for your help!

6

The class of thread is created and started from constructor of contribution.
Please see here.

7

Awesome! Thanks, was able to get the thread running in the constructor of contribution.

I am having trouble using the writer.println(command); to toggle multiple outputs one after another. Is there a specific sequence that I should be using to accomplish this?

8

You should read up more on URScipt functions in the manual here: UR Download | Support Site | Universal Robots
And more on secondary functions to execute things in parrallel here: Secondary program - 17257

1 Like
9

Chris,

That’s exactly what I was looking for! Thanks very much for leading me in the right direction!

1 Like