Universal Robots Forum

URCaps plugins samples

This topic has been closed, and all samples have been migrated to the new URCaps Samples category in order to better facilitate discussions and updates to these samples.

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UR3 Screwing URCap
Sample

An example of a URCap that only includes a Program Node.
The URCap converts the data inputted into the program node user interface and modifies the script code based on this.
Provides a simple solution and user interface, covering up a complex script code.

Keywords:
ScriptWriter, screwing, UR3, ProgramNode,

Latest version:
Moved hereā€¦
Requires SDK 1.0+

Legacy cap with a few bugs:
Find them and fix them if you want a challenge.
Moved hereā€¦

XML-RPC Math URCap
Sample

An example of a URCap that only includes an Installation Node and a small Python Daemon.
The URCap implements an XML-RPC call to a Python server to extend the math functionality of the URScript language.
The included math functionality is: string concentration, string indexation, addition and subtraction of numbers.

Keywords:
XML-RPC, strings, concentration, InstallationNode, DaemonService, Python, Daemon

Moved hereā€¦
Requires SDK 1.0+

6 posts were split to a new topic: Problem loading sample URCap

A post was split to a new topic: UR3 Screw bug, ghosting between different instances

Whip welding URCap
Sample, work in progress

This URCap uses a Feature Plane to create a weaving path for welding.
An example of a URCap that shows an image and a dropdown menu with Plane Features from installation.
Use to work with images, select method and dropdowns and how to read information from the Installation in a ProgramNode and vice versa.

Keywords:
image, select, dropdown, Features, Plane Feature

Moved hereā€¦
Requires SDK 1.0+

Note: Not functional, and should not be used industrially for welding.

1 Like

getRobotData Real Time Client reader URCap

This URCap implements a new custom class, getRobotRealtimeData.class, that connects to the Real Time Client interface, and reads the message.
The data from the Real Time Client is broken into the information it represents, and implements get-methods to read actual TCP pose, actual joint positions, joint temperatures, joint operation modes and the safety limited speed scaling percentage. You can add your own get-methods as well.

Hence, this class demonstrates how to read information about the robot state (position, running mode, etc.) and use this within another section of the URCap.

A sample placeholder Installation node is implemented, to show how to import the getRobotRealtimeData class into another class. The Installation node uses EventQueue.invokeLater to update the values from the getRobotRealtimeData dynamically.

Keywords:
socket, importing class, get actual TCP, client interfaces, live update

Moved hereā€¦
Requires SDK 1.1+

3 Likes

Script Wapper URCap

This URCap wraps the contents of a selected script file into a program node in PolyScope.
The user can select which script file to wrap, and select a decent image to show instead.

User must place a script file (.script) and optionally image (.jpg, .jpeg, .png .bmp) in the /programs/ folder on a real robot, or /home/ur/ursim-current/programs/ in a URSim. The URCap checks the robots serial number, to decide what folder to look in.

The sample demonstrates how to wrap pre-written URScript into a URCap. How to read the serial number and find files on the file system. It also implements images and dropdowns.

Note:
It is suggested, that product that generate URScript code into a file, e.g. CAD/CAM software uses an approach like this, to wrap different modules of the script code into self-explanatory functional blocks for easier readability.

Keywords:
appendRaw, script file, image, select, dropdown, manage files, read script

Moved hereā€¦
Requires SDK 1.1+

2 Likes

2 posts were merged into an existing topic: Sample: getRobotData Real Time Client reader URCap

All samples have been migrated to the new URCaps Samples category in order to better facilitate discussions and updates to these samples.

This topic will be closed.