UR10 tool flange 24V power control

asked 2019-04-02 00:13:42 -0600

stefvanlierop
37 ●9 ●11 ●15

Hi, i have been working on controlling a relay with the power output of the UR10 flange connector. i recently got the ur_modern_driver/io_states publisher working and noticed that it does not publish the voltage that is on the output of said pin. The voltage on that pin can only be 0,12 or 24. I know that because with the teach panel i can set that output to those values. So now i do not know if i can use the ur_msgs service of SetIO.srv to set this output.

Do i need to program this myself or is this possible? I have been looking for a long time and cannot find documentation that says if this is possible.

answered 2019-04-02 02:05:18 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2019-04-02 02:32:41 -0600

It's not well documented, but the SetIO service should allow you to configure the tool voltage when you specify the FUN_SET_TOOL_VOLTAGE for fun, and then setting state to either 0, 12 or 24.

Some pseudo-code (neither Python nor C++):

req = SetIO()
req.fun = SetIO.FUN_SET_TOOL_VOLTAGE
req.state = 12

This would set the tool voltage to 12V after invoking the service.

Edit:

I have been looking for a long time and cannot find documentation that says if this is possible.

I've submitted ros-industrial/universal_robot#415 to clarify the use of SetIO a bit.

Once that gets merged, the code changes slightly (constants added):

req = SetIO()
req.fun = SetIO.FUN_SET_TOOL_VOLTAGE
req.state = SetIO.STATE_TOOL_VOLTAGE_12V

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For reference: this is where the driver processes the incoming service request, and this is where the tool voltage request is processed.

gvdhoorn ( 2019-04-02 02:06:12 -0600 )edit

yes that worked, thank you very much

stefvanlierop ( 2019-04-02 04:12:42 -0600 )edit

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