Skip to content

URSim driver

This driver allows the communication between Simumatik and URSim to connect to exchange I/O variables and axis values in degrees.

Parameters

Aside from the common parameters described in the communication_driver docs, this driver includes:

  • host: IP address of the UR robot. Default = '127.0.0.1'

  • port: Port number used by the UR robot. Default = 30004

  • frequency: Refreshing time value. Default = 125

Setup data

The setup data will give values to the parameters required and will specify the I/O variables info.

{
    "parameters": {
        "host": "1921.168.1.23", 
        "port": 30004,
        "frequency": 125,
    },
    "variables": {
        "inputs": {
            "datatype": "byte", 
            "size": 1,
            "operation": "write"
        },
        "outputs": {
            "datatype": "byte", 
            "size": 2, 
            "operation": "read"
        }
    }
}