UR 官方培训课程讲义解析.ppt

August 2013 Electrical interfaces Masterboard Tool connector Electrical interface Masterboard Electrical interface Tool connector Communication interfaces Modbus TCP Client Server Dashboard server FTP server Ethernet socket Euromap67 (option) Modbus TCP Robot = client Modbus client Modbus server Ethernet Ext. device Modbus TCP Robot = server Fixed registers I/O status TCP and joint positions Robot and program state User defined registers 128 registers Modbus client Modbus servers Ethernet Dashboard server load Loads a program play Starts program stop Stops running program pause Pauses running program quit Closes connection shutdown Shuts down and turns power off running Execution state enquiry robotmode Robot mode enquiry get loaded program Loaded program enquiry popup Popup box close popup Closes the popup Robotmode -1 NO_CONTROLLER_MODE 0 ROBOT_RUNNING_MODE (normal state) 1 ROBOT_FREEDRIVE_MODE 2 ROBOT_READY_MODE 3 ROBOT_INITIALIZING_MODE 4 ROBOT_SECURITY_STOPPED_MODE 5 ROBOT_EMERGENCY_STOPPED_MODE 6 ROBOT_FAULT_MODE 7 ROBOT_NO_POWER_MODE 8 ROBOT_NOT_CONNECTED_MODE 9 ROBOT_SHUTDOWN_MODE 10 ROBOT_SAFEGUARD_STOP_MODE SSH / SFTP (secure file transfer protocol) FTP client Host: IP-address on robot User: root Password: easybot Port 22 Ethernet sockets Commonly used commands: socket_open() socket_close() socket_set_var() socket_get_var() socket_read_ascii_float() Ethernet sockets socket_open(address, port, socket_name) Parameters: address: server address (string) port: port number (int) socket_name: name of socket (string) Return value: FALSE if failed TRUE if connection is established Ethernet sockets socket_close(socket_name) Parameters: socket_name: name of socket (string) Return value: no return value Ethernet sockets socket_set_var(name, value, socket_name) Parameters: name: variable name (string) value: number to send (int) socket_name: name of socket (string) Return value: no return value Ethernet sockets socket_