Hello, I’m trying to connect a camera system from a UR5 robot via TCP/IP. The camera uses an asci protocol but I’m unable to parse the protocol on the robot with URScript (3.4.2) language. I haven’t found any string manipulation functions. Is there any way to extend the URScript language on the …

URScript does not natively support string handling functions, other than comparison, However if the camera is able to transmit a float value as ASCII in this format "(1.23, 2.34, 3.45)" it is possible directly to receive this, and convert to numerics by the function data = socket_read_ascii_float(n…

The camera protocol doesn’t transmit the values in form that is readable by URScript right now. This solution would require to modify the camera protocol. For XML-RPC a special XML-RPC server is needed to proxy data between camera and URScript. URScript would act as a client to that server. No extr…

Yes, with the daemon contribution, this could act as a handshake between the URScript, and the camera. so the daemon can relay the information in the protocol desired. The handshake towards URScript could e.g. be an XML-RPC server, or some other socket comminucation form, based on C++, Python 2.7, …

Hi, Just to be sure, and to warn others peoples reading this, but we can’t use Python2.7 on our urcaps, were limited to the 2.5 version right? If we wan’t to use 2.7, we have to use another computer right ? (Tested it just about a minute ago to be sure, and I don’t work, maybe it’s fine if we manu…

Thank you, I didnt know that CB3.1 was in Python2.7, It’s already a great thing, maybe we will get Python3 to the next one :wink: (I’ll will make a detailed “feature request” post later on it)

URScript Extensions

Technical Questions URScript

jbm July 25, 2017, 7:13am 6

@anon58863070
Be aware that the Python version is different, depending on the hardware version of the robot.
Namely between CB3.0 and CB3.1

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URScript Extensions

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