ur_msgs¶

Message types¶

• ur_msgs/MasterboardDataMsg
• ur_msgs/Digital
• ur_msgs/IOStates
• ur_msgs/Analog
• ur_msgs/RobotStateRTMsg

ur_msgs/MasterboardDataMsg¶

Field:

digital_input_bits (int16) – digital_output_bits (int16) – analog_input_range0 (int8) – analog_input_range1 (int8) – analog_input0 (float64) – analog_input1 (float64) – analog_output_domain0 (int8) – analog_output_domain1 (int8) – analog_output0 (float64) – analog_output1 (float64) – masterboard_temperature (float32) – robot_voltage_48V (float32) – robot_current (float32) – master_io_current (float32) – master_safety_state (uint8) – master_onoff_state (uint8) –

This data structure contains the MasterboardData structure used by the Universal Robots controller

MasterboardData is part of the data structure being send on the secondary client communications interface

This data structure is send at 10 Hz on TCP port 30002

Dokumentation can be found on the Universal Robots Support Wiki (http://wiki03.lynero.net/Technical/DataStreamFromURController?rev=8)

# This data structure contains the MasterboardData structure
# used by the Universal Robots controller
#
# MasterboardData is part of the data structure being send on the 
# secondary client communications interface
# 
# This data structure is send at 10 Hz on TCP port 30002
# 
# Dokumentation can be found on the Universal Robots Support Wiki
# (http://wiki03.lynero.net/Technical/DataStreamFromURController?rev=8)

int16 digital_input_bits
int16 digital_output_bits
int8 analog_input_range0
int8 analog_input_range1
float64 analog_input0
float64 analog_input1
int8 analog_output_domain0
int8 analog_output_domain1
float64 analog_output0
float64 analog_output1
float32 masterboard_temperature
float32 robot_voltage_48V
float32 robot_current
float32 master_io_current
uint8 master_safety_state
uint8 master_onoff_state

ur_msgs/Digital¶

Field:	pin (uint8) – state (bool) –

uint8 pin
bool state

ur_msgs/IOStates¶

Field:	digital_in_states[] (ur_msgs/Digital) – digital_out_states[] (ur_msgs/Digital) – flag_states[] (ur_msgs/Digital) – analog_in_states[] (ur_msgs/Analog) – analog_out_states[] (ur_msgs/Analog) –

Digital[] digital_in_states
Digital[] digital_out_states
Digital[] flag_states
Analog[] analog_in_states
Analog[] analog_out_states

ur_msgs/Analog¶

Field:	pin (uint8) – state (float32) –

uint8 pin
float32 state

ur_msgs/RobotStateRTMsg¶

Field:

time (float64) – q_target[] (float64) – qd_target[] (float64) – qdd_target[] (float64) – i_target[] (float64) – m_target[] (float64) – q_actual[] (float64) – qd_actual[] (float64) – i_actual[] (float64) – tool_acc_values[] (float64) – tcp_force[] (float64) – tool_vector[] (float64) – tcp_speed[] (float64) – digital_input_bits (float64) – motor_temperatures[] (float64) – controller_timer (float64) – test_value (float64) – robot_mode (float64) – joint_modes[] (float64) –

Data structure for the realtime communications interface (aka Matlab interface) used by the Universal Robots controller

This data structure is send at 125 Hz on TCP port 30003

Dokumentation can be found on the Universal Robots Support Wiki (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)

# Data structure for the realtime communications interface (aka Matlab interface)
# used by the Universal Robots controller
# 
# This data structure is send at 125 Hz on TCP port 30003
# 
# Dokumentation can be found on the Universal Robots Support Wiki
# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)

float64 time
float64[] q_target
float64[] qd_target
float64[] qdd_target
float64[] i_target
float64[] m_target
float64[] q_actual
float64[] qd_actual
float64[] i_actual
float64[] tool_acc_values
float64[] tcp_force
float64[] tool_vector
float64[] tcp_speed
float64 digital_input_bits
float64[] motor_temperatures
float64 controller_timer
float64 test_value
float64 robot_mode
float64[] joint_modes

Service types¶

• ur_msgs/SetPayload
• ur_msgs/SetIO

ur_msgs/SetPayload¶

Field (Request):
	payload (float32) –
Field (Response):
	success (bool) –

float32 payload
-----------------------
bool success

ur_msgs/SetIO¶

Field (Request):
	fun (int8) – pin (int8) – state (float32) –
Field (Response):
	success (bool) –

int8 fun
int8 pin
float32 state
---
bool success