Change speedx method to RT data stream EXAMPLE#79
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BartMoyaers wants to merge 2 commits intoSintefManufacturing:masterfrom
Open
Change speedx method to RT data stream EXAMPLE#79BartMoyaers wants to merge 2 commits intoSintefManufacturing:masterfrom
BartMoyaers wants to merge 2 commits intoSintefManufacturing:masterfrom
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maybe you should add a test for software version? otherwise it is going to crash for everybody with an older robot |
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Yes, good point. Honestly, I forgot about this pull request! The latest commit was actually just for internal use. I currently do not have an overview what changed in the different UR software versions, but I might look into this more in the future. Thanks for the heads-up. |
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This is an example pull request to show how it is possible to change robot commands to the real-time data stream. This is quite useful if you want to control the robot in any real-time manner. (For example direct speed control, or velocity control using PID... Etc.)
It allows the URscript to be sent at 125Hz or more, according to this webpage: https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/remote-control-via-tcpip-16496/
For now only the speedx method is converted to the RT stream, but converting all other movement methods should be analogous.