UR10e TCP/IP Communication

Technical Questions Robot Communication
1

Hello UR-Forum,

first of all I´m new to this topic and I´m very inexperienced when it comes to programming. As a student I´ve the chance to use a UR10e and I want to use this chance to get better in this topic, including programming.

I want to start with a TCP/IP connection between the Cobot and the PC. I read different topics in here already and also found some helpful websites related to it.

This is my first test now:

import socket
import time

HOST = “192.168.1.149”
PORT = 30002

s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((HOST, PORT))

s.send ((“set_digital_output(1,True)” + “\n”).encode(“utf8”))

data = s.recv(1024)

s.close()

print (“Received”, repr(data))

Problem: the output on the cobot doesn´t change true or high. I do receive an answer and I checked the connection already, thatsworks so far.

Sorry for that stupid question. I also know there is RTDE for better communication but for the beginning I want to keep it simple. The RTDE is a bit too complicated for me at the moment. Thank you for some help.

2

I’m no expert at socket communication, so if you think that’s all setup right, then it may just be that you have the wrong command.
https://s3-eu-west-1.amazonaws.com/ur-support-site/163530/scriptmanual_5.12.pdf The script manual can be found at that link there, but I think you’re looking for the following:
image

1 Like
3

I’m no expert on socket communication, either. But have you put the robot in Remote mode? :slight_smile:
It can be enabled in the settings menu in the upper right corner, and then switched to by pressing the Mode symbol next to the menu.

1 Like
4

Thank you, that was one mistake. I was completely wrong, because set_digital_“output” is wrong anyways, should be just “out”.

5

That was my second problem. I totally forgot this. Thank you very much. It works now :slight_smile: