urScriptExt.cpython-312.pyc•37.1 kB
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Python 3.x library to control an UR robot through its TCP/IP interfaces
Copyright (C) 2017 Martin Huus Bjerge, Rope Robotics ApS, Denmark
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Interface to remote access UR script commands, and add some extended features as well.
For more details see the script manual at this site:
http://www.universal-robots.com/download/
Beside the implementation of the script interface, this class also inherits from the
Real Time Client and RTDE interface and thereby also open a connection to these data interfaces.
The Real Time Client in this version is only used to send program and script commands
to the robot, not to read data from the robot, all data reading is done via the RTDE interface.
This class also opens a connection to the UR Dashboard server and enables you to
e.g. reset error and warnings from the UR controller.
The constructor takes a UR robot hostname as input, and a RTDE configuration file, and optional a logger object.
Input parameters:
host (string): hostname or IP of UR Robot (RT CLient server)
rtde_conf_filename (string): Path to xml file describing what channels to activate
Example:
rob = URBasic.urScriptExt.UrScriptExt('192.168.56.101', rtde_conf_filename='rtde_configuration.xml')
self.close_rtc()
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