Universal Robots Forum

Writing variables from Daemon to Robot Program

Hello all!
I’m quite new to UrCaps development, and I don’t know if this can be done. For our application, we have a daemon that manages the communication trough TCP sockets with an external sensor on the background. This sensor is sending a list of variables useful for the robot program. Is there a way to put this variables somehow on the Robot Program Variables instead of having to read them from the daemon?
Thanks in advance, Sergio.

Hi Sergio,

So you’re trying to get rid of the Daemon altogether? If the sensor can act as a server, you can directly use the URScript socket client commands to open a connection and send/receive data within your robot program. If the sensor needs to establish the connection however, you’ll still your Daemon. It’s easiest to pass data from Daemon into running robot program through and RTDE connection.

Andrew