Also checkout the new CB3 forum
The 6 axis Universal-Robots are silent and user friendly robots that is easy to program.
The User menu provide hints and tips for user interaction with the robots. Select from the drop down menu.
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Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.
Can you please guide me to do programming in python?
Any references are available?
Different Client Address and Robot Address
# Echo client program
import socket
import time
from math import radians
robotaddress = ’192.168.1.181′
robotPort = 30002
clientAddress = ’192.168.1.148′
clientPort = 2048
print “Program Start”
count = 0
while (count < 1):
serverSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
serverSocket.connect((clientAddress, clientPort))
time.sleep(0.05)
programSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
programSocket.connect((robotaddress, robotPort))
time.sleep(0.05)
programSocket.send (“movej([-1.8263219632699421, -1.7319098497843228, 1.7991931614989278, -1.6389153321983159, -1.5723347175650684, 2.8868157860256334], a=1.3962634015954636, v=1.0471975511965976)” + “\n”)
time.sleep(2)
programSocket.send (“movej(p[0.0000000000000000, 0.4300000000000000, 0.4000000000000000, 0.0000000000000000, 2.0000000000000000, 0.0000000000000000], a=1.3962634015954636, v=1.0471975511965976)” + “\n”)
time.sleep(2)
programSocket.send (“movej(p[0.0000000000000000, 0.6300000000000000, 0.4000000000000000, 0.0000000000000000, 2.0000000000000000, 0.0000000000000000], a=1.3962634015954636, v=1.0471975511965976)” + “\n”)
count += 1
print “The count is:”, count
time.sleep(1)
data = programSocket.recv(1024)
programSocket.close()
print (“Received”, repr(data))
print "Program finished"
Is it right?
Hi Parth
Can you explain your intention with the program ?
Have you tested it on a robot ?
Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.
Also check out the CB3 forum
No. I just write script. But I have doubt that, In which Socket I have to send command? Serversocket or programsocket?
You might consider to write to port 30002, but it depends what you are trying the acheive ?
Can you explain you setup and goal ?