Dashboard Server, port 29999 - 15690

Introduce all the commands that dashboard server can

support. Take an example , connecting Dashboard Server with
SocketTest software.
Examples are valid for:
CB2 Software version: 1.4 and upwards
CB3 Software version: 3.0 and upwards
Note that older or newer software versions may behave differently.

A Universal Robot can be controlled from remote by sending simple commands to the GUI over a TCP/IP socket. This
interface is called the "DashBoard server". The server is running on port 29999 on the robots IP address. Each
command should be terminated by a ‘\n’ also called a newline.

Command Return value Description Supported CB1CB2 CB3 CB3.1

from

Start
loading the
specified
program.
v1.4 to
Return x x x x
v3.2
immediately
"Loading program: <program.urp>" OR
before
load "File not found: <program.urp>"
loading
<program.urp> completes.
 
 
Load the
 
specified
program.
Return v3.3 x x
   
when
loading has
completed.

Starts
program, if
any
program is
loaded and
 robot is v1.4 to
x x x x
ready. v3.2
Return
immediately
before
starting has
completed.
play "Starting program"

    Starts
program, if
any
program is
loaded and
robot is
ready. v3.3 x x
   
Return
when the
program
execution
has been
started.

Stops
running
v1.4 to
program x x x x
v3.2
and return
immediately.
stop "Stopped"

Stops
    running
program
and returns v3.3 x x
   
when
stopping is
completed.

Pauses the
running
v1.4 to
program x x x x
v3.2
and return
immediately.

pause "Pausing program"
    Pauses the
running
program v3.3 x x
and returns    
when
pausing is
completed.

Closes
quit "Disconnected" v1.4 x x x x
connection

Shuts down
and turns
shutdown "Shutting down" off robot v1.4 x x x x
and
controller

Execution
"Robot running: True" OR "Robot
running state v1.6   x x x
running: False"
enquiry

CB2: integer is returned

NO_CONTROLLER_MODE = ­1
ROBOT_RUNNING_MODE = 0 (This is
"normal" mode)
ROBOT_FREEDRIVE_MODE = 1
ROBOT_READY_MODE = 2
ROBOT_INITIALIZING_MODE = 3
ROBOT_SECURITY_STOPPED_MODE =
4
ROBOT_EMERGENCY_STOPPED_MODE
= 5
ROBOT_FAULT_MODE = 6
ROBOT_NO_POWER_MODE = 7 Robot mode
robotmode v1.6   x x x
ROBOT_NOT_CONNECTED_MODE = 8 enquiry
ROBOT_SHUTDOWN_MODE = 9

CB3: text is returned
"Robotmode: <mode>", where <mode> is

NO_CONTROLLER
DISCONNECTED
CONFIRM_SAFETY
BOOTING
POWER_OFF
POWER_ON
 IDLE
BACKDRIVE
RUNNING

Which
"Program loaded: <path to loaded
get loaded program program is v1.6   x x x
program file>" OR "No program loaded"
loaded

The popup­
text will be
translated to
popup <popup­ the selected
"showing popup" v1.6   x x x
text> language, if
the text
exists in the
language file

Closes the
close popup "closing popup" v1.6   x x x
popup

Adds log­
addToLog <log­ "Added log message" Or "No log message to
v1.8.11657   x x x
message> message to add" the Log
history

Simple
control of
user
privileges:
"Setting user role: <role>" OR "Failed controls the
setUserRole <role> v1.8.11657   x x x
setting user role: <role>" available
options on
the
Welcome
screen

Returns the
save state of
isProgramSaved "True" OR "False" v1.8.11997   x x x
the active
program

Returns the
state of the
active
programState "STOPPED" if no program is running OR program, or v1.8.11997   x x x
"PLAYING" if program is running STOPPED if
no program
is loaded

Returns the
version of
polyscopeVersion version number, like "3.0.15547" the v1.8.14035   x x x
Polyscope
software

Control of
user
privileges:
controls the
available
options on
"Setting user role: <role>" OR "Failed the
setting user role: <role>"
Welcome
screen.
setUserRole programmer = "SETUP Robot" button
<role>, where is disabled, "Expert Mode" is available
(if correct password is supplied) Note: If the
<role> is
operator = Only "RUN Program" and Welcome
screen is not v1.8.14035   x x x
"SHUTDOWN Robot" buttons are
programmer enabled, "Expert Mode" cannot be active when
operator activated the command
none none ( or send setUserRole) = All is sent, the
locked buttons enabled, "Expert Mode" is user
available (if correct password is privileges
supplied) defined by
locked = All buttons disabled and the new user
"Expert Mode" cannot be activated role will not
be effective
until the user
switches to
the Welcome
screen.

Powers on
power on "Powering on" the robot v3.0     x x
arm

Powers off
the robot
power off "Powering off" arm v3.0     x x
 Releases the
brake release "Brake releasing" v3.0     x x
brakes

"safety mode: <mode>", where
<mode> is

NORMAL
REDUCED Safety mode
safetymode v3.0     x x
PROTECTIVE_STOP enquiry
RECOVERY
SAFEGUARD_STOP
SYSTEM_EMERGENCY_STOP
ROBOT_EMERGENCY_STOP
VIOLATION
FAULT

Closes the
current
unlock protective popup and
"Protective stop releasing" v3.1     x x
stop unlocks
protective
stop

Closes a
close safety popup "closing safety popup" safety v3.1     x x
popup

setUserRole <role>
extended with new "Restricted" works like "operator" but
role:   v3.1.17136     x x
does not give access to the move tab.

restricted

load installation Loads the
"Loading installation:
specified
<default.installation>" OR "File not v3.2.18654
installation      x x
<default.installation> found: <default.installation>"
file

 
Testing the Dashboard server:

For testing purposes a program for testing sockets can be used, like HyperTerminal, or similar. In this example the
freeware program SocketTest is used.

Setup a static IP­address and subnet mask on PC, so it matches the robot, e.g.:

PC: IP­addr: 192.168.3.10 Robot: IP­addr: 192.168.3.3
Subnet: 255.255.255.0 Subnet: 255.255.255.0

In the socket test program, use the Client tab to send commands to robot: