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:

Parameter	Default Value	Description
host	127.0.0.1	IP address of the UR robot.
port	30004	Port number used by the UR robot.
frequency	125	Refreshing time value.

Setup data

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

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

note

The setup_params in the generic PLC components for ur_driver will need the following format:

{ "host": "localhost", "port": 30004, "frequency": 125 }