Connect LabVIEW and Universal Robots via RTDE (real time data exchange)

[AlexMay]

but anyway: here is a vi - built on my previous vi`s to capture TCP data into a txt file - have fun 😁

[JVG2001]

Hello,

In this message you explain that you were able to connect the robot in different ways to the robot, Im relative new to the usage of the LabVIEW. And I can make the connection but I´m failing to give a Command of Start, Pause and Stop. 

Could you explain me how to make the Loop with the TCP?

[JVG2001]

Hi, 

for the hole explanation it was really helpful, but when I´m not an expert, how can I send more than one variable of information. I want to send 5 different values. How can I make that possible? 

In other hand is there a way to send a Script from Labview, that would make everything easier if I could send the code directly and that the robot receive it?

[AlexMay]

Hey!

To use LabVIEW to connect to additional input registers, you just need to add an entry to the text array as shown in the image:

To enable the UR to read the data, the registers (at least for the URe series) are read out as follows:

In the case shown, I write the data to an array (tmp). Since I do not send joint-angles here but TCP positions, the content is valid for the inverse kinimatics command via tcppos=p[,,,,].

I hope this helps a little,

best, Alex

[AlexMay]

btw: Often the connection via RTDE is not even necessary! Port 29999 allows you to connect and send start and stop commands (and more) to control UR5 programs.

This should help:

https://www.youtube.com/watch?v=S1oEeiL19p4

and

https://www.youtube.com/watch?v=ivvHDBrgh-8

I did that way and it worked nicely!

[danrose599]

It's been a while since you last posted here, but do you know how I can extract pose data from the UR Robot using this TCP connection method (from your main.vi)? I was able to get it running and verify the connection!

Thank you so much!