Dashboard
- class ur_remote.Dashboard(ipAddress)[source]
Create a communication using TCP/IP with the dashboard server interface of a Universal Robot e-series. Based on https://www.universal-robots.com/articles/ur/dashboard-server-e-series-port-29999/ as of 07.10.22 UR robot needs to be set in remote mode on the polyscope application.
- Parameters
ipAddress (string) – the ip address of the Universal Robot.
- addToLog(logMessage)[source]
Adds log-message to the Log history
- Parameters
logMessage (string) – Message displayed in the popup window
- Returns
“Added log message” Or “No log message to add”
- Return type
string
- clearOperationalMode()[source]
If this function is called the operational mode can again be changed from PolyScope, and the user password is enabled.
- Returns
“operational mode is no longer controlled by Dashboard Server”
- Return type
string
- connect()[source]
Connect to the Universal Robot dashboard Server
- Returns
The status of the connection
- Return type
string
- generateFlightReport(reportType)[source]
Triggers a Flight Report of the following type: • Controller - report with information specific for diagnosing controller errors. For example, in case of protective stops, faults or violations. • Software - report with information specific for polyscope software failures. • System - report with information about robot configuration, programs, installations, etc. It is required to wait at least 30 seconds between triggering software or controller reports.
- Parameters
reportType (string) – controller, software, system
- Returns
On success report id is printed. Error Message on a failure. Command can take few minutes to complete.
- Return type
string
- generateSupportFile(directoryPath)[source]
Generates a flight report of the type “System” and creates a compressed collection of all the existing flight reports on the robot along with the generated flight report. Result file ur_[robot serial number]_YYYY-MM-DD_HHMM-SS.zip is saved inside <Directory path>
- Parameters
directoryPath (string) –
- Returns
On success “Completed successfully: <result file name>” is printed otherwise an error message with possible cause of the error is shown.
Command can take up to 10 minutes to complete. :rtype: string
- getOperationalMode()[source]
Returns the operational mode as MANUAL or AUTOMATIC if the password has been set for Mode in Settings. Returns NONE if the password has not been set.
- Returns
MANUAL, AUTOMATIC, NONE
- Return type
string
- getRobotMode()[source]
- Returns
NO_CONTROLLER, DISCONNECTED, CONFIRM_SAFETY, BOOTING, POWER_OFF, POWER_ON, IDLE, BACKDRIVE, RUNNING
- Return type
string
- getSafetyStatus()[source]
- Returns
NORMAL, REDUCED PROTECTIVE_STOP, RECOVERY SAFEGUARD_STOP, SYSTEM_EMERGENCY_STOP, ROBOT_EMERGENCY_STOP, VIOLATION, FAULT, AUTOMATIC_MODE_SAFEGUARD_STOP, SYSTEM_THREE_POSITION_ENABLING_STOP
- Return type
string
- load(programName)[source]
Load a myProgram.urp file already present on the robot.
- Parameters
programName (string) – name of the .urp program (without the .urp)
- Returns
Returns when both program and associated installation has loaded (or failed). The load command fails if the associated installation requires confirmation of safety. The return value in this case will be ‘Error while loading program.
- Return type
string
- loadInstallation(installationName)[source]
Loads the specified installation file but does not return until the load has completed (or failed). The load command fails if the associated installation requires confirmation of safety. The return value will be ‘Failed to load installation’.
- Parameters
installationNameName (string) – name of the .installation program (without the .installation)
- Returns
loading status
- Return type
string
- pause()[source]
Pause the program loaded
- Returns
Returns failure if the program fails to pause.
- Return type
string
- play()[source]
Play the program loaded
- Returns
Returns failure if the program fails to start.
- Return type
string
- popupDisplay(popupMessage)[source]
Display a popup message on the Teach pendant. The popup-text will be translated to the selected language, if the text exists in the language file
- Parameters
popupMessage (string) – Message displayed in the popup window
- Returns
“showing popup”
- Return type
string
- restartSafety()[source]
Used when robot gets a safety fault or violation to restart the safety. After safety has been rebooted the robot will be in Power Off. IMPORTANT: You should always ensure it is okay to restart the system. It is highly recommended to check the error log before using this command (either via PolyScope or e.g. ssh connection).
- Returns
“Restarting status”
- Return type
string
- setOperationalMode(operationalMode)[source]
Controls the operational mode. See User manual for details. Warning: This functionality is intended for using e.g. Ethernet based Key Card Readers to switch operational modes. The device for switching operational mode should be placed in vicinity to the robot.
- Parameters
operationalMode (string) – manual or automatic
- Returns
operational mode status
- Return type
string
- shutdown()[source]
Shuts down and turns off robot and controller.
- Returns
“Shutting down”
- Return type
string