Differences

This shows you the differences between two versions of the page.

--- ur10_robot_arm:ur10_robot_arm [2023/04/14 00:46] – [Software] formlab
+++ ur10_robot_arm:ur10_robot_arm [2023/04/17 03:40] (current) – [RoboDK] formlab
@@ Line 8: / Line 8: @@
   * [[https://www.zacobria.com/pdf/universal_robots_zacobria_hints_and_tips_manual_1_4_3.pdf|Hints and tips by Zacobria]]
 ===== Software =====
-  * Teaching pendant
+  * [[ur10_robot_arm:ur10_robot_arm#polyscope_the_teaching_pendant|Polyscope (the teaching pendant)]]
-  * Grasshopper + Robots
+  * [[ur10_robot_arm:ur10_robot_arm#grasshopper|Grasshopper]]
-  * Rodo-DK
+  * [[ur10_robot_arm:ur10_robot_arm#robodk|Rodo-DK]]
   * Other possible control software
     * Python
     * [[https://etasl.pages.gitlab.kuleuven.be/|eTaSL]]
-==== Teaching pendant (Polyscope) ====
+==== Polyscope (the teaching pendant) ====
 === Define TCP ===
@@ Line 32: / Line 32: @@
 - [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]]
+- Direct computer-robot ethernet connection doesn't work. You need a switch or a router. The computer's IP address should be set to DHCP.
 ==== Grasshopper ====
-Grasshopper runs inside Rhino 7. In order to control the robot arm, a plugin is needed:
+Grasshopper runs inside Rhino 7. In order to control the robot arm, a Grasshopper plugin is needed: Robots.
@@ Line 92: / Line 92: @@
 == Setup ==
-  * Do not connect to the LAN network of KASK. Instead connect to the robot arm via a separate switch.
+  * Do not connect to the LAN network of KASK. Instead connect to the robot arm directly, or via a separate switch.
   * Set the computer to a static IP address that is the same as the Robot's, except for the last number
-{{:ur10_robot_arm:screen_shot_2023-02-28_at_10.45.42.png?600|}}
+  * <code>Computer -------------- Robot arm</code>
+  * or
+  * <code>Computer --- Switch --- Robot arm</code>
@@ Line 108: / Line 113: @@
 Location of program (URP) or script (URS) files: ''/programs''
+==== RoboDK ====
+- [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]]
 ===== Hardware  =====