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"
}
}
}