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README.md

Festo FHPP XML-RPC Server for UR10/uraxis

See also uraxis

/

Index

/rel(int relPos, int speed)

Perform relative movement by relPos ticks at speed. Blocks until position reached (calls checkPos()).

/abs(int targetPos, int speed)

Perform absolute movement to targetPos at speed. Blocks until position reached (calls checkPos()).

/getpos()

Fetches live status from axis and returns current position.

/ready

Enable freedrive/teach - Mode

/status

Returns map of status flags

Usage

Usage: <main class> [-h] [-aip=<axisIP>] [-ap=<axisPort>] [-p=<port>]
      -aip, --axisip=<axisIP>
                      Axis ip address
      -ap, --axisport=<axisPort>
                      Axis modbus port
  -h, --help          display a help message
  -p, --port=<port>   HTTP Server port
./jdk-12+33-jre/bin/java -jar urweb-1.0-SNAPSHOT-shaded.jar

Deployment

systemd service documentation

[Unit]
Description=uraxisdaemon
After=syslog.target

[Service]
Type=notify
NotifyAccess=all
WorkingDirectory=/opt/myserver/
ExecStart=/usr/bin/java -server -jar uraxisdaemon.jar -p=8080 -aip=192.168.30.200 -ap=30001
# WatchdogSec=30
Restart=always

[Install]
WantedBy=multi-user.target