URcaps external control

Package for external control of a UR robot. It supports UR3, UR5 and UR10 of CB3 as well as the e-series.

prerequisites

As this URCap is using swing to implement the user interface, the URCap library in version 1.3.0 or higher is required. Therefore the minimal PolyScope versions are 3.7 and 5.1.

To enable external control of a UR robot from a remote PC, this URcap must be installed on the UR robot and the ur_rtde_driver has to be installed on the remote PC.

usage

• In the Installation tab of Polyscope:
  • Adjust the IP address of your robot in the Installation tab of Polyscope (this step might be unnecessary in simulation).
• On the remote PC:
  • Launch the suitable launch file for UR3/UR5/UR10 and CB3/e-series.
• In the Program tab of Polyscope:
  • Add this URcap to a program by selecting it from the side menu under the tab URcap.
  • Execute the program by pressing the play button in the Program tab of Polyscope.

Multiple URCap nodes

To use this URCap node multiple times in a ur program, the control script is divided into two scripts. After receiving the script, it is divided into a header part and a control loop part. The header part consist of all the function deffinitions. The header is only inserted once in the program, while the control loop is inserted for each URCap node in the program tree.

To be able to distinguish between header and control loop, the header part of the script should be encapsulated in:

# HEADER_BEGIN
Here goes the header code
# HEADER_END

# NODE_CONTROL_LOOP_BEGINS
Here goes the control loop code
# NODE_CONTROL_LOOP_ENDS

If its not possible to find either # HEADER_BEGIN or # HEADER_END, the script will not be divided into two scripts and it will not be possible to have multiple URCap nodes in one program.