The Universal Robots Interpreter Mode is a powerful feature that enables the programmer to send and execute any valid script statement at runtime. This article provides a technical overview of the Interpreter Mode and a guide on how to integrate it into your applications.
When the Interpreter Mode is activated, the controller opens an interpreter socket (30020) and waits for URScript commands. These commands are then appended to the running program and executed in real-time. This allows for interactive command execution during operation.
Real-Time Command Execution: The Interpreter Mode allows for the execution of URScript commands in real-time. This means that you can send commands to the robot and see the results immediately.
Integration with Existing Programs: The Interpreter Mode can be integrated into existing robot programs. This means that you can use the Interpreter Mode to add additional functionality to your programs without having to rewrite them.
Support for Multiple Sessions: You can create multiple interpreter mode calls in the main program. This allows for greater flexibility and control over the robot's operations.
Using the Interpreter Mode involves sending URScript commands to the interpreter socket. These commands are then executed by the robot in real-time. Here are some examples of how to use the Interpreter Mode:
Reading URScript Commands from a File: You can execute multiple URScript commands inside a file through the interpreter socket. This allows you to define complex sequences of commands in a file and execute them with a single command.
Controlling I/O: The Interpreter Mode can be used to control I/O, fieldbus, Tool-com, etc. synchronous and asynchronous with robot movements. This allows for greater control over the robot's operations.
Running Multiple Interpreter Mode Sessions: You can create multiple interpreter mode calls in the main program. This allows for greater flexibility and control over the robot's operations.
Sharing Function Definitions: If you have multiple interpreter mode sessions, you can share function definitions between them. This allows for greater code reuse and simplifies the development process.
This is a general overview and integration guide for the Universal Robots Interpreter Mode. For more detailed information, please refer to the official Universal Robots documentation.