Be based on TCP/IP agreement implementation to go up an engine long-range control to UR robot

0 " concept, it is namely make the 4th the industrial revolution that is dominant with intelligence, or revolutionary production methods. This strategy aims through making full use of technology of news news report is mixed network space is fictitious system, the method that photograph of information physics system combines, change manufacturing industry transition to intelligence. So, some closer a when consider place of oneself product research and development important way is in a lot of year of industrial automation manufacturers to whether can be controlled remotely surely. On the other hand, rise of labour cost ceaselessly as home and the uncertainty that plant personnel flows, robot industry is in last few years, believing also is in the near future sunny industry. Produce medium long-range control in the factory to industrial robot so, it is the task with better side of set prescription of a robot collect. We know, in the team of industrial robot, UR robot is the first man-machine cooperation robot that works below industrial environment, it with light, simple, safety celebrated. We come to understanding how come true below go up an engine long-range control to UR robot. 2, the is based on TCP/IP agreement interface TCP/IP agreement that UR robot offers results from 1969, it is a kind of architecture that develops in the light of Internet and consultative standard, the purpose depends on solving the communication problem of heterogeneous computer network. Make the network can offer a kind of general, consistent communication to serve for the user when interconnection. It is the consultative level that Internet uses. The communication that is based on TCP/IP has cost low, dependability is tall, practical strong, function is advanced characteristic, so a lot of industrial automation products have the interface that is based on TCP/IP agreement communication now, realize equipment and equipment thereby between, the communication between equipment and network. UR robot is on the foundation of TCP/IP agreement, offerred rich interface to be used at with peripheral equipment alternant, if express,1 is narrated. Had these interface, go up an engine is OK and long-range control robot. If pursue 1, described simply go up an engine is long-range to UR robot the systematic graph of monitoring. Graph we introduce the relevant communication port that UR robot offers below graph of system of 1 long-range control, control a robot remotely thereby. 3, ModbusTCP port MODBUS is OSI model the 7th applied layer message that go up transmits an agreement, it comes in join be the same as type bus line or client computer is not supplied between the equipment of the network / the server corresponds. Since appeared 1979 industry is serial since the factual standard of link, MODBUS makes by tens of thousands automation equipment can correspond. Current, continue to increase pair of simple and tasteful MODBUS structure support. Internet organization can make the reservation system port on TCP/IP inn 502 visits MODBUS. MODBUS is a request / respondent agreement, and provide the service that functional code provides. MODBUS function code is MODBUS request / the element of respondent PDU. UR robot can regard ModbusTCP as the server already, also can regard ModbusTCP client as end, both main distinction is requesting to differ just at the message. Here, we discuss UR robot to regard ModbusTCP as the circumstance of the server only, if pursue,2 are shown. Server of graph 2 Modbus TCP since UR robot regards Modbus TCP as the server, it is sure have a series of Modbus addresses for going up a machine will visit. If express,2 are shown. Carry the relevant Modbus address of UR robot, we can visit a lot of information of the robot, can put these information then on on machine. Pursue below even if carry visit Modbus address, copy software of Polyscope(UR robot original) , make an interface, of course the place that we can control a robot through this interface monitoring uses IO. Graph 3 IO is controlled 4, on Dashboard port machine is OK send a few simple instructions to give a robot directly through 29999 port, him UR defines these instructions, this kind of function is called Dashboard. Next watches are the instruction list of Dashboard. Clearly, we can adopt statement of a few Dashboard, program of long-range switch, to load, can start at the same time, time-out, suspend a program, such getting on an engine is OK and long-range control a process. 5, go up the robot has an UR of port of machine process designing means of 3 kinds of process designing: Polyscope process designing, script process designing and C-API process designing. What Polyscope process designing points to is the program is in show religion implement go up to be edited, the robot is carried out next, this is the process designing means of UI layer. C-API process designing is the process designing means on layer of research and development. What we introduce mainly is means of script process designing, the language of script process designing is UR company is on Python language foundation, the URscript language of own research and development. URscript is the programming language that controls a robot on script layer, resemble other programming language same, it has variable kind, syntactic structure, method. Additional, it has a series of special method will control robot motion and IO state. The controller of UR robot moves on Mini-ITXPC, once PC starts robot controller (resemble starting a service same) , polyscope software establishs link with respect to the TCP/IP port that passes PC this locality and robot controller. Same, should go up a machine carry as the client, pass 30001 or 30002 or 30003 specific process designing port, build TCP/IP to join with robot controller, such we are going up an according to URscript language format on machine write script program, direct hair gives a robot controller, the robot can execute an order directly. According to above principle of narrates robot script process designing, I am going up following interfaces are made on machine, realize the long-range process designing of pair of UR robots. Graph 4 script process designing 6, port of real time feedback 30001, 30002, 30003 besides be used at long-range process designing, still have other function, if express,4 are narrated. These 3 port another common characteristic is, once client end opens port, can receive the information that comes from a robot according to certain frequency. Those who need an attention is 30003 port it is port of real time feedback, the client carries every 8ms to be able to receive the information that comes from a robot. Additional, pass a test, client end is passed 30001 mix 30002 can every 200ms left and right sides receives the information that comes from a robot. The robot information that actually client end receives through these 3 port also has a bit different. Passing 30003 port to receive information is the richest, included through 30002 received information and through 30001 received major information. Say to pass port of real time feedback so, it is highest that client end achieves robot information efficiency, content also is the most complete. The data package that through feedbacking in real time port gets every time has 1044 byte, these byte are arranged with standard format. The attention issues client end to be able to be received in few circumstance be less than 1044 byte, but the format that byte arranges is changeless. Express 5 it is the ordinal list that 1044 byte rank. Had these data, go up the data show of a machine is met very rich. There are 2 pieces to go up below a machine interface graph, "The dot uses a figure " got joint position, TCP seat; "Initialization pursues " got articulatory and articulatory mode, practical electric current, articulatory voltage and other data. The graph moved a graph to pursue at 5 o'clock 6 initialization pursue 7, the place on last word put together is narrated, the robot regards ModbusTCP as the server, go up a machine go up through all IO; that 502 port can control a robot a machine is OK through 30001 or 30002 or 30003 port download a program remotely to arrive robot; Go up a machine through 29999 port program of OK and long-range control runs state; Go up a machine the state information that can get a robot in real time through 30003 port. That is to say, use the is based on TCP/IP agreement port with UR open robot, can make oneself Polyscope software, on implementation the long-range control of machine. CNC Milling CNC Machining