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urRobot

Usage

Table of contents

If you haven’t yet added the EPICS urRobot support to an IOC, please see the Quickstart page for instructions.

Most of the basic functionality can be done through the provided GUIs using either MEDM, caQtDM, or CSS-Phoebus. To start the screens, three bash scripts are provided: start_phoebus_urRobot start_MEDM_urRobot, and start_caQtdm_urRobot

CSS Phoebus GUIs

After running the start_phoebus_urRobot a script, the below screen will open. The various buttons here will open the additional screens.

css-top

Dashboard:
css-dashboard

RTDE Receive:
css-receive

RTDE I/O
css-io

RTDE Control:
css-receive

Robotiq Gripper
css-gripper

WaypointL
css-waypointL

Waypoint Action
css-waypointL-action

MEDM/caQtDM

MEDM screens are provided and can be started with provided start_MEDM_urRobot script. These screens have been converted to caQtDM as well and those can be started with start_caQTDM_urRobot.

TODO: Add screenshots

Scripting

It is often useful to program the robot by interacting with the available PVs in a script. Below an example python script using PyEpics is provided which demonstrates how to move joint 6 (wrist) +10deg, then -10deg back to where it started.

from epics import caget, caput

PREFIX = "bcur:" # replace with your IOC prefix

def wait_motion():
    '''block execution until commanded motion finishes'''
    while True:
        if caget(f"{PREFIX}Control:Steady") == 0:
            break
    while True:
        if caget(f"{PREFIX}Control:Steady") == 1:
            break

# Disable auto move
# when enabled, changing commanded values will automatically move
# when disabled, you need to call moveJ to trigger the move
caput(f"{PREFIX}Control:AutoMoveJ", 0)

# Set commanded joint positions to current position
caput(f"{PREFIX}Control:ResetJCmd", 1)
# the above is the same as doing the following:
#  caput(f"{PREFIX}Control:J1Cmd", joint_angles[0])
#  caput(f"{PREFIX}Control:J2Cmd", joint_angles[1])
#  caput(f"{PREFIX}Control:J3Cmd", joint_angles[2])
#  caput(f"{PREFIX}Control:J4Cmd", joint_angles[3])
#  caput(f"{PREFIX}Control:J5Cmd", joint_angles[4])
#  caput(f"{PREFIX}Control:J6Cmd", joint_angles[5])

# Move J6 +20deg
print("Moving Joint 6 +10deg...")
joint_angles = caget(f"{PREFIX}Receive:ActualJointPositions")
caput(f"{PREFIX}Control:J6Cmd", joint_angles[5]+10)
caput(f"{PREFIX}Control:moveJ", 1)
wait_motion()

# Move J6 back to where it started
print("Moving Joint 6 -10deg...")
joint_angles = caget(f"{PREFIX}Receive:ActualJointPositions")
caput(f"{PREFIX}Control:J6Cmd", joint_angles[5]-10)
caput(f"{PREFIX}Control:moveJ", 1)
wait_motion()
print("Done!")