Package to support relaying the RS-485 communication device in a UR robot to a remote PC. This feature is only supported on the e-series.
Basically, this starts socat to relay the tool communication device to the network socket on port 54321.
First, you need to put an RS485 URCap into the programs folder of your e-series robot.
You'll find the latest version here in the Releases section.
Copying can be done either via scp or via using a USB stick.
Next, go through these steps to install the URCap in Polyscope.
Once the daemon is started in Polyscope, establish the connection from a remote machine, using socat:
# Setup your robot IP here:
export ROBOT_IP=192.168.56.101
# Setup the name for the device you wish to create. Make sure that your user can write to that location.
export LOCAL_DEVICE_NAME=/tmp/ttyUR
socat pty,link=${LOCAL_DEVICE_NAME},raw,ignoreeof,waitslave tcp:${ROBOT_IP}:54321After that you should be able to use the device under ${LOCAL_DEVICE_NAME} (in our case /tmp/ttyUR) just like any local RS-485 tty device.
The ur_robot_driver has a convenience script wrapping the above socat call. When running the driver, the e-Series launchfiles provide a flag for automatically activating the tool communication. The launchfiles also allow setting up communication parameters on the robot directly.
Developed in collaboration between:
and
.
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.