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rparak / Unity3D_Robotics_UR

A digital-twin of the Universal Robots UR3 integrated into the Unity3D development platform.
MIT License
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Unable to Connect with VM - -- UR polyscope. #6

Open rajmeetsng opened 1 year ago

rajmeetsng commented 1 year ago

Hi Roman I am unable to connect UR3 Unity with UR3 Polyscope. Is there any need to change any IP in script file. Unable to connect VM --polyscope UR3. Please help ....

rparak commented 1 year ago

Dear @rajmeetsng,

To verify communication, you can try my simple program here: https://github.com/rparak/UR_Robot_data_processing/

You may have an incorrect IP address from your Polyscope device. Open URSim UR3 and then open the installation robot and network.

Please also watch my video where I demonstrate the connection with the simulation: https://www.youtube.com/watch?v=kReuJdESdz0&t=50s

If you are using the UR-e version of the robot, you need to change lines 93 and 97 in the C# script for the Unity3D app. Link: https://github.com/rparak/Unity3D_Robotics_UR/blob/main/Universal_Robots_Unity_App/Assets/Scripts/UR3/ur_data_processing.cs

This change is necessary because the communication rate of the CB version of the robot I used is 125 Hz (8 ms), while the new one operates at 500 Hz (2 ms). Simply change the time step value from 8 to 2.

If the problem persists, try enabling the remote control (UR-e version only). The first generation of UR robots (non UR-e), such as UR3, UR5, and UR10, already has the Remote Control option enabled by default.

To enable Remote Control on the UR robot controller if you have a UR-e robot (UR3e, UR5e, or UR10e), follow these steps:

  1. Select the Settings menu from the top right button.
  2. Choose System-Remote Control.
  3. Select Enable.
  4. Change the mode of operation to Remote Control.

I hope that's clear to you.

Have a nice day.

Best Regards, Roman Parak

rajmeetsng commented 1 year ago

Thank Roman

Nice explanation. Now works and is connected to URSIM polyscope. Roman, If I want to add a gripper to the end of UR3 and control via some control button. Any tutorials or documents You have ? kindly share.

I want to develop a digital twin of UR3 for pick and place applications.

Thanks alot

Regards

Rajmeet

PhD Robotics

On Tue, Oct 10, 2023 at 1:35 AM Roman Parak @.***> wrote:

Dear @rajmeetsng https://github.com/rajmeetsng,

To verify communication, you can try my simple program here: https://github.com/rparak/UR_Robot_data_processing/

You may have an incorrect IP address from your Polyscope device. Open URSim UR3 and then open the installation robot and network.

Please also watch my video where I demonstrate the connection with the simulation: https://www.youtube.com/watch?v=kReuJdESdz0&t=50s

If you are using the UR-e version of the robot, you need to change lines 93 and 97 in the C# script for the Unity3D app. Link:

https://github.com/rparak/Unity3D_Robotics_UR/blob/main/Universal_Robots_Unity_App/Assets/Scripts/UR3/ur_data_processing.cs

This change is necessary because the communication rate of the CB version of the robot I used is 125 Hz (8 ms), while the new one operates at 500 Hz (2 ms). Simply change the time step value from 8 to 2.

If the problem persists, try enabling the remote control (UR-e version only). The first generation of UR robots (non UR-e), such as UR3, UR5, and UR10, already has the Remote Control option enabled by default.

To enable Remote Control on the UR robot controller if you have a UR-e robot (UR3e, UR5e, or UR10e), follow these steps:

  1. Select the Settings menu from the top right button.
  2. Choose System-Remote Control.
  3. Select Enable.
  4. Change the mode of operation to Remote Control.

I hope that's clear to you.

Have a nice day.

Best Regards, Roman Parak

— Reply to this email directly, view it on GitHub https://github.com/rparak/Unity3D_Robotics_UR/issues/6#issuecomment-1754420189, or unsubscribe https://github.com/notifications/unsubscribe-auth/AR53UES63TSEHL3KFJEZV5TX6TNAPAVCNFSM6AAAAAA5ZPYTLSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTONJUGQZDAMJYHE . You are receiving this because you were mentioned.Message ID: @.***>

rparak commented 1 year ago

One of my most recent projects published on Unity3D also involves working with an end-effector. More information can be found at the following link: https://github.com/rparak/Unity3D_ABB_CRB_15000_GoFa_EGM

You can apply the same principle in Unity3D for UR, but for real-world communication, you need to extend my code with signal control.

I will probably improve my project, but I don't have time for other research projects at the moment.

Thank you for your feedback. It will help me in the future with ideas for extension.