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+--- Thread: Question regarding RoboDK API and UR10 (/Thread-Question-regarding-RoboDK-API-and-UR10)
Question regarding RoboDK API and UR10-GoldenDude-11-06-2019
Hello!
I'm currently working on a project using RoboDK API & RoboDK (sim) with a UR10 in it.
I'm coding using C++ and my company's libraries. Everything works just fine when it come to connecting to the sim and moving the robot using the API exclusively.
Now, our plan is to purchase a real UR10 robot and run our program on it. Will it work the same way?
will I be able to use RoboDK API the same way I'm using it to run commands on the simulator & the real robot (changing IP & ports)?
Example:
ROBOT->MoveJ(Mat* mat) ====> Moves the robot in the simulator with no problems. Will it move the real robot as well without any changes other than IP & port?
If not, how will would suggest I approach this?
Thank you!
Edan
RE: Question regarding RoboDK API and UR10-Albert-11-06-2019
Hi Edan,
Yes, you can move the real UR robot directly from your C++ code like you move the simulated robot.
你可以使用Connect (opti触发连接onally passing the IP):
//www.sinclairbody.com/doc/en/PythonAPI/robolink.html#robolink.Item.Connect
Albert
RE: Question regarding RoboDK API and UR10-GoldenDude-11-11-2019
(11-06-2019, 11:37 AM)Albert Wrote:Hi Edan,
Yes, you can move the real UR robot directly from your C++ code like you move the simulated robot.
你可以使用Connect (opti触发连接onally passing the IP):
//www.sinclairbody.com/doc/en/PythonAPI/robolink.html#robolink.Item.Connect
Albert
Thank you Albert!
I have another question regarding Read/Write IOs.
I know you can set Digital Output (1/0) on the robot with SetDO(). Is there a way to READ these values using C++?
Further more, I've probably missed the functions in the API, but what are the ways to Read&Write variables (ints, strings, etc...) using C++?
Edan
RE: Question regarding RoboDK API and UR10-Albert-11-11-2019
Hi Edan,
Yes, you can read digital inputs through the API by using getDI:
//www.sinclairbody.com/doc/en/PythonAPI/robolink.html#robolink.Item.getDI
Albert
RE: Question regarding RoboDK API and UR10-GoldenDude-11-13-2019
(11-11-2019, 06:57 PM)Albert Wrote:Hi Edan,
Yes, you can read digital inputs through the API by using getDI:
//www.sinclairbody.com/doc/en/PythonAPI/robolink.html#robolink.Item.getDI
Albert
I can't seem to find this function in theC++API or in the source/header file.
Do I need to add the function myself?
Thank you,
Edan.
RE: Question regarding RoboDK API and UR10-Albert-11-13-2019
Hi Edan,
The option to read digital inputs has been recently added so you may have to take our latest RoboDK API files (robodk_api.h and robodk_api.cpp) from the RoboDK API repository on GitHub:
https://github.com/RoboDK/RoboDK-API/blob/master/C%2B%2B/Example/robodk_api.h#L2238
Albert