Connection and Initialization

Constructor

URCtrl(
    robot_ip="10.170.10.56",
    arm_name="Arm",
    instance_name="Ctrl",
    logger=None,
    log_level=None,
    config=None,
)

On initialization, URCtrl connects SDU Robotics ur_rtde RTDEControl, RTDEReceive, and RTDEIO. Dashboard is connected only when enabled in the configuration.

config

Representative configuration settings are listed below.

Setting	Meaning
`ROBOT_IP` / `UR_IP`	UR controller IP address
`ROBOT_VAR_FILE` / `UR_VAR_FILE`	Virtual-variable storage file
`UR_USE_DASHBOARD`	Enable DashboardClient
`UR_MAX_LINEAR_SPEED`	Maximum linear speed
`UR_MAX_LINEAR_ACCELERATION`	Maximum linear acceleration
`UR_MAX_JOINT_SPEED`	Maximum joint speed
`UR_MAX_JOINT_ACCELERATION`	Maximum joint acceleration
`UR_DEFAULT_BLEND_RADIUS`	Blend radius for `@P`
`UR_ALLOW_RESTART_SAFETY`	Allow safety restart

Dashboard

turn_on_motor(), turn_off_motor(), and some reset_error() operations require Dashboard.

class Config:
    ROBOT_IP = "10.170.10.56"
    UR_USE_DASHBOARD = True

robot = URCtrl(config=Config)

Without Dashboard, these operations return False and record the reason in the error information.

connect()

robot.connect()

Connect SDU Robotics ur_rtde RTDEControlInterface, RTDEReceiveInterface, and RTDEIOInterface.

disconnect()

robot.disconnect()

Save virtual variables, then disconnect Dashboard, RTDEIO, RTDEReceive, and RTDEControl in that order.

Context Manager (`with`)

with URCtrl(ROBOT_IP) as robot:
    ...

Using with calls disconnect() when leaving the context.