ur5 v0.46.0-beta

🌀 UR5 Platform 🚀 v0.46 Beta

Dependences 🌜

1. Yarn 1.6 or above
2. NodeJS 9.0 or above
3. TypeScript 2.6 or above (in global)

Hardware 🔥

1. PolyScope 1.8
2. URController 1.8

Install 💦

1. Complete setup, set IP and Port Robot
2. yarn build
3. yarn win
4. You are perfect! 💞

Ubuntu 16.04 xenial

0. git clone https://github.com/0xF6/UniversalRobotics.git | cd UniversalRobotics
1. sudo apt-get install libnss3
2. sudo apt-get install libgconf-2-4
3. Complete setup, set IP and Port Robot
4. yarn win
5. You are nice! 💞

Arch Linux

0. git clone https://github.com/0xF6/UniversalRobotics.git | cd UniversalRobotics
1. sudo pacman -S gconf
2. yarn win
3. Complete setup, set IP and Port Robot
4. You are great! 💞

Informations 🕸

Ports:

1. 30002 - Every 300 ms comes information about the robot, its state, information about the controller
2. 30001 - Modbus port
3. 29999 - Polyscope dashboard port, command port

29999 || 30001 Port, commands

Send via socket ASCII text command.

Robot modes

NO_CONTROLLER_MODE = -1
ROBOT_RUNNING_MODE = 0 (This is "normal" mode)
ROBOT_FREEDRIVE_MODE = 1
ROBOT_READY_MODE = 2
ROBOT_INITIALIZING_MODE = 3
ROBOT_SECURITY_STOPPED_MODE = 4
ROBOT_EMERGENCY_STOPPED_MODE = 5
ROBOT_FAULT_MODE = 6
ROBOT_NO_POWER_MODE = 7
ROBOT_NOT_CONNECTED_MODE = 8
ROBOT_SHUTDOWN_MODE = 9

Safety Modes

NORMAL
REDUCED
PROTECTIVE_STOP
RECOVERY
SAFEGUARD_STOP
SYSTEM_EMERGENCY_STOP
ROBOT_EMERGENCY_STOP
VIOLATION
FAULT

User roles

programmer = In Setup Robot, buttons "Update", "Set Password", "Network", "Time" and "URCaps" are disabled, "Expert Mode" is available (if correct password is supplied)
operator = Only "RUN Program" and "SHUTDOWN Robot" buttons are enabled, "Expert Mode" cannot be activated
none ( or send setUserRole) = All buttons enabled, "Expert Mode" is available (if correct password is supplied)
locked = All buttons disabled and "Expert Mode" cannot be activated