What are flags in the setIO service of the UR messages

asked 2020-02-12 03:26:40 -0600

stefvanlierop
37 ●9 ●11 ●15

updated 2020-02-12 03:45:07 -0600

Hi, this was a general question form me because i have been working with a UR10 and i can set the IO's to a value. I cannot set the mode however (current or voltage controlled). i was just wondering what the flags on a pin do. The ur_msgs/SetIO documentation shows that there is a function that sets these flags. Are flags the parameters that set the output of the analog pins to current or voltage control? I also tried this already with the Universal robot Driver with the function

FUN_SET_FLAG

but when i use this function, i get the message that it is not implemented yet in this driver.

thank you in advance

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I also tried this already with the Universal robot Driver but when i use this function, i get the message that it is not implemented yet in this driver

I'm guessing you are referring to FUN_SET_TOOL_VOLTAGE here. Would be good to mention that.

gvdhoorn ( 2020-02-12 03:33:29 -0600 )edit

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answered 2020-02-12 03:31:37 -0600

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

updated 2020-02-12 03:31:47 -0600

Are flags the parameters that set the output of the analog pins to current or voltage control?

No.

Flags are (from the The URScript Programming Language, version 3.12):

Flags behave like internal digital outputs. They keep information between program runs.

They are essentially a set of booleans in memory of the controller, not connected to any physical output or input. They can be used to store simple binary information.

Often used as mutexes or in wait conditions (ie: one thread waits on a flag to become True before continuing. Another thread sets the flag to True to signal the other thread it may continue).

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This is just functionality offered by Universal Robots on their controllers btw. Nothing ROS-specific about this.

The SetIO service you mention is just a ROS interface to that functionality.

gvdhoorn ( 2020-02-12 03:32:29 -0600 )edit

Btw: you can configure the tool voltage and other setting using snippets of URScript (see the scripting manual).

The ur_hardware_interface node in the ur_robot_driver package exposes a urscript topic to which you can send snippets of URScript.

You could use that to configure the settings you are referring to in your question.

gvdhoorn ( 2020-02-12 05:24:10 -0600 )edit

You're right. I've updated my comment.

gvdhoorn ( 2020-02-12 05:48:38 -0600 )edit

I do not understand what you mean with scripting manual, is it this page

stefvanlierop ( 2020-02-12 05:50:00 -0600 )edit

No.

It's the standard URScript manual as provided by Universal Robots on their support website.

This one for the CB series controller (not e-Series), system software version 3.12.

gvdhoorn ( 2020-02-12 05:56:58 -0600 )edit

With the URScript topic, you mean the script_command Topic of the ur_hardware_interface node

stefvanlierop ( 2020-02-17 00:59:16 -0600 )edit

Yes, see this (or search for script_command in the ROS_INTERFACE docs).

gvdhoorn ( 2020-02-17 02:38:30 -0600 )edit

i send this to the topic ur_hardware_interface/script_command : 'sec myProgram(): set_analog_outputdomain(1,1) end' . but it doesnt do anything. when i send 'set_analog_outputdomain(1,1)' it does set the pin domain correctly but then it interrupts the driver ur_cap that is running (as is mentioned in the documentation you send in the previous comment) my polyscope version is 3.7.1. Is this not up to date enough? Should i start another question or update this one?

stefvanlierop ( 2020-02-17 05:54:17 -0600 )edit

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