/rtde-example

Examples to use UniversalRobots rtde Python library

Primary LanguagePython

What is this program for?

Examples to use UR rtde library.

What are the files?

  • rtde folder: the rtde library from UR company.
  • only_move_example.py: an example only to move robotic arm.
  • only_digital_output_example.py: an example only to change the values of standard digital outputs.
  • move_digital_output_example.py: an example to move robotic arm and change the values of standard digital outputs together.
  • control_loop_configuration.xml: config file for rtde library, including the variables that we need to write/change in the UR robotic arm.
  • record_configuration.xml: config file for rtde library, including the variables that we need to read from the UR robotic arm.

other information

An email from UR (Universal Robots) company

UR company sent us an email, which also includes some documentations and examples to use the rtde library:

Here you can find a good documentation about our rtde interface. I can recommend you to go through step by step on this page.

https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/

You can find input and output options for rtde xml files in “FIELD NAMES AND ASSOCIATED TYPES” section.

Also we have a github repo that you can find rtde examples.

https://github.com/UniversalRobots/RTDE_Python_Client_Library

Let me know if you need anything else.

Regards.

Another rtde example repository

UR company recommended this repository to us:

https://github.com/KeepTheBeats/URRobots_Python_RTDE

I have not read it, but forked it, in case that we may need it in the future.