Introduction to EdgeGateway for Universal Robots 

This page provides guidance on how to install and use the MQTTspB Client URCap with Universal Robots. Included is information about URCap, MQTTspB and RTDE clients. A fundamental understanding of the MQTT protocol operation is important to gain the most from this guide. If you are not familiar with MQTT, we suggest reviewing the appropriate resources to gain a fundamental understanding before proceeding with the installation and configuration of the MQTTspB Client URCap. Furthermore, we want to emphasize that the same interface and settings apply to all scenarios in which the URCap is used. Consequently, all the instructions and screenshots provided in this guide are applicable across different situations. It is important for Windows users to note that a Virtual Machine might be necessary for certain applications. Further details regarding installation and configurations will be provided in the later sections of this document. 

Overview

Getting Started

This guide will walk you through the process of installing and configuring MQTTspB URCaps on Universal Robots products: UR20, UR10e, UR3e, UR5e, UR16e, which have the Polyscope software embedded on them. The minimum Polyscope version required for our solution is 5.11.0. 

Step 1: URCap Installation

1.1. Ensure that your Universal Robots product is running at least Polyscope version 5.11.0. 

1.2. Download the *.urcap file on your computer. 

1.3. Use WinSCP (or a similar SFTP/SCP software) to connect to your robot. You will need the IP address of the robot for this. The default user is "ur" and the password is "easybot" 

1.4. Once connected, navigate to the Programs folder (/Programs/) on the robot's system and create a new folder named "MQTTspB URCaps". 

1.5. Copy the downloaded *.urcap file (or just drag and drop) into the newly created PolyScope Programs Folder (/Programs/MQTTspB URCaps). 

1.6. On your Universal Robots product, navigate to Program Settings → System → UR Caps. Click on the plus (+) button and browse for your *.urcap file. 

1.7. To complete the installation, restart Polyscope. 

Step 2: URCap Configuration - Connecting to the MQTT Broker and Setting up Configuration 

2.1. To begin configuration, navigate to Installation Tab → UR Caps → MQTTspB Publisher. 

2.2. Open the configuration window and select the MQTT Broker Info tab. Fill in the necessary information for the MQTTspB Client. 

2.3. Switch to the Communication Manager tab. Enter the following information: 

2.3.1. The name of the robot. 

2.3.2. The MQTTspB Topic/Address 

2.3.3. The Robot IP Address (required for RTDE connection). 

Step 3: Running the MQTTspB URCaps 

3.1. In the Communication Manager tab also contains Start/Stop buttons for both MQTTspB and RTDE Client connections.  

Step 4: Obtaining the License 

4.1. Navigate to the 'License' tab. 

4.2. Click on the 'Get SiteCode' button. This action will generate a .txt file in the /root/GUI folder. 

4.3. Transfer the generated file to our support team at support@tatsoft.com. If you're transferring the file to a Windows system, you can use WinSCP or a similar SFTP program. 

4.4. Transfer the Site code that our support team sends back to you, to the Universal Robots product. 

4.5. In Polyscope, navigate to 'MQTT Publisher' -> 'License Tab' -> 'Load License Key'. Then select the file and click 'Open'. 

System Requirements

To make use of this feature, the following system requirements must be met: 

• Universal Robots Physical robot with PolyScope version 5.11. 
• URCap file (*.urcap). 
• SSL Certificates (Optional: only if TLS is to be implemented). 
• Basic understanding of the use and operation of the MQTT protocol. If you are not familiar with MQTT, we suggest you review the appropriate resources to gain a fundamental understanding. 

• Familiarity with the Linux system to access the license files and other robot information. If you're using a Windows system, an SFTP or SCP software(e.g. WinSCP) might be required for transferring files. 

SSL Certificates 

Security is a crucial part of any automation system. MQTTspB Client URCap supports using TLS/SSL secure connections to protect your MQTT communications. To utilize this feature, you should acquire certificates in the PEM format from the MQTT broker administrator. 

Please note that to establish a secure connection, you would need several certificate files, including a Server Certificate, a Client Certificate, a Client Certificate Key, and the Private Key Password. Make sure to supply the paths to these .pem files to the publisher when setting up. 

Overview

The URCap application consists of three separate processes running in parallel. 

• Graphical User Interface: This is the main URCap application. It runs within the robot (PolyScope), handles communication parameters, and can start/stop the client connections. 
• RTDE Client: This is a client implementation for the RTDE protocol, running on an independent thread. It reads real-time data from the robot and forwards it to the main program so it can be published to an MQTT Broker. 
• MQTTspB Client: This is a client implementation for the MQTTspB protocol, running on an independent thread. It receives data from the RTDE (through the main program) and publishes it to the broker. 

MQTT and RTDE definitions are available in the end of this section. This program behavior is illustrated as per image below. 

The RTDE protocol generates messages every 8ms (125Hz). However, the MQTT client does not publish at the same rate. It only publishes new data if any variable has changed its value since the last reading. 

MQTT: A lightweight, publish-subscribe network protocol that transports messages between devices. SparkPlugB includes additional control and standards, allowing for information about birth, death, and better data exchange control. For more information on the SparkplugB specification, please refer to the official documentation. The MQTT client can connect to an MQTT broker located on any accessible network, not being restricted to the same local network as the robot. This means that communication can be established with a broker in the cloud, for example. 

RTDE: An interface that provides a way to synchronize external applications with the UR controller over a standard TCP/IP connection, without breaking any real-time properties of the UR Controller. For more information, please refer to the official documentation.

Installation

1. Preparing the URCap File: 

   • Ensure that you have the *.urcap file ready for installation. 

   Using WinSCP for File Transfer: 

   • If you are not familiar with accessing the filesystem of your Universal Robots (UR) device, we recommend using a tool like WinSCP. 
   • Download and install WinSCP on your computer. 
   • Connect your computer to the same network as your UR device. 

   Finding the IP of the Robot :  

   •  Find the IP address of your UR device. This is usually found on the UR's interface under the 'Network' settings:
   • 
   • Open WinSCP and create a new session. Input the UR device's IP address, and use the default username and password (“ur” user, "easybot" password). 
   • 
   • Once connected, navigate to the /Programs/ directory on your UR device using WinSCP. 
   • Drag and drop the *.urcap file from your computer to the /Programs/ directory of the UR device. 
   • Create an "MQTTspB URCaps" folder inside the programs Folder (/Programs/). This can be done in the Settings → UrCaps → New button. 
   • Open your Programming Environment (PolyScope). 
   • Go to Program Settings (1) →System (2) →UR Caps (3). Click on the plus (+) button and search for your *.urcap file. 
   • Restart the PolyScope to finalize the import procedure.

Understanding the MQTT Broker 

An MQTT broker is a lightweight, efficient messaging middleware used in the Internet of Things (IoT) and other connected applications. It acts as an intermediary between devices and applications, facilitating the exchange of data in a publish-subscribe model. Clients, such as sensors or smart devices, publish messages to specific topics on the broker, which then disseminates these messages to interested subscribers. The broker ensures reliable message delivery, minimal bandwidth usage, and low latency, making it ideal for resource-constrained environments. Its simplicity, scalability, and support for real-time communication make it a popular choice for securely managing and orchestrating communication in decentralized networks. 

For the purpose of this guide, it is assumed that you already have an MQTT broker up and running. If you do not have one in place, please consult the relevant documentation or your system administrator for assistance in setting one up. 

Using the URCap

This new tool will be available after importing the *.urcap file and restarting the URSim. 

1. Go to Installation Tab (1) →UR Caps (2) →MQTTspB Publisher (3). 

1. Click on it to open the configuration window in the right panel. 

There are three tabs: MQTT Broker Info, Communication Manager and License. 

• In MQTT Broker Info, enter the information for the MQTTspB Client (similar to what is done at your Project). 
• In Communication Manager, enter the MQTTspB Topic/Address, Robot IP Address (for RTDE connection), and command buttons. 

• License will contain information about your URCap license status. 

Configuration Tab 

• Broker URL: MQTT Broker (Server) URL. 
• Port : This is the port number of the MQTT Broker. The default for MQTT is port 1883 for unencrypted connections and port 8883 for SSL/TLS secure connections. Ensure that the corresponding port is open on any firewalls that may be in place to allow proper communication between the client and server.Communication failures may occur if the specified port is closed by the firewall. Therefore, it is recommended that you check your firewall settings or contact your network administrator if you encounter connection problems. 
• ClientId: Indicates the client identification used for connecting to the MQTT Broker. If empty, one will be auto generated. 

• UserName: Username defined in MQTT Broker. This will be requested if the Broker needs this configuration (if necessary). 
• Password: Password defined in MQTT Broker. This will be requested if the Broker needs this configuration (if necessary). 
• Server Certificate: Path of the .pem file for the server. This is required if the MQTT Broker uses a server-side certificate for authentication. The complete path of the .pem file on the client computer must be provided. 
• Client Certificate: Path of .pem Client Certificate. If using server-side only certificate this field does not need to be configured. This must be the complete path of .pem certificate in the client computer. Also, the certificate must be installed. 
• Client Certificate Key: Path of the .pem key file of the Client Certificate. This key file is used to authenticate the client-side certificate and establish a secure connection with the MQTT Broker. 

• CertificatePassword: Password created when Certificate was exported (if necessary). 
• NetworkSecurity: This field indicates the type of network security used in communication with the broker. The options are "None" and "TLS". If you are using TLS, ensure to provide the appropriate certificates. Otherwise, this feature can be bypassed. 
• QoS: Quality of Service (QoS) is an agreement between sender and receiver of a message regarding the guarantees of delivering a message. The QoS levels are: 
• AtMostOnce: This service level guarantees a best-effort delivery. However, there is no guarantee of delivery, due to the recipient not acknowledging the receipt of the message. 
• AtLeastOnce: This service guarantees that a message is delivered at least once to the receiver. 

• ExactlyOnce: Highest level of service. It is safer, but slower when compared to the others. When the message flow is complete, all parties involved in the communication are sure the message was sent and delivered with success. 
• KeepAlive: Ensures that the connection between the Broker and Client is open and both parties are aware of the connection. Default value is 10 seconds. 
• Publish Rate: Indicates the time for publishing in ms. The messages to be published are grouped and sent using this period. Default value is 500 milliseconds. 

Communication Manager Tab 

• Robot Name: Defines the name of the robot, which represents the main element in the Data Structure. 

• Mqtt Topic: Topic into which the payload will be published. The syntax is: <GroupId>/<NodeId>/<DeviceId>. To fully understand the meaning of these terms, refer to the MQTTSPB specification. 
• Robot IP: IP address for the RTDE connection. This will be the same IP of your UR device since Polyscope is embedded into the UR. Note: The "Robot IP Address" field accepts only valid IP addresses. Make sure to enter a valid IP address, no other strings are accepted. 
• Frequency: Reading frequency for the RTDE Protocol. Should be a value in the range of 125 to 500Hz. 
• AutoRun: Flag indicating if the client should start automatically. This value will be stored in ConfigFile.xml for next program execution. (Default = false). 

License Tab

When you first install this URCap, the default license is called Express. It allows you to run your application for two hours straight. After this time, all clients are stopped automatically. You can run the application without limitations once it is licensed.

Licensing Methods

Licensing your application entails obtaining a softkey license generated specifically for your equipment's SiteCode. 

Navigate to Installation →MQTTspB Publisher →License and click on "Get Site Code". 

Forward the generated file to support@tatsoft.com, and in response, you will receive a license key. 

Within the License tab, click the "Load License Key" button to introduce the provided key. 

Using a USB on Polyscope for Licensing: 

If opting for a USB-based license key loading: 

1. Transfer the license key file onto a USB drive.
2. Slot the USB into the robot controller.
3. Access the "MQTTspB URCaps" folder located within the "Programs" directory on the robot controller.
4. Using tools like WinSCP (or another preferred file transfer method), transfer the license key file from the USB to the "MQTTspB URCaps" folder.

1. Redirect to the License tab in URCaps and activate the "Load License Key" button.
2. Select the license key file from the "MQTTspB URCaps" folder to integrate it into URCaps.

License - Product Model and Protocol

The Product Model refers to the amount of communication points allowed. As the Data Structure has a fixed max size, all URCap licenses are ”unlimited”.

The protocol available for this application is RTDE.

MQTTspB and RTDE Client connections status

You can verify the status of modules on the Communication Manager tab, close of the Start/Stop buttons.

There is also available the module status on toolbar where exist the UR+ option. This is an easy way to verify the current status. 

Importing Configuration Parameters

In addition to manually entering configuration parameters in the PolyScope Installation Tab, you can also import the parameters through a *.xml file.

The syntax for this file is as follows:

<?xml version="1.0"?>
<Configuration>
	<Robot>
		<Name>My_Robot_Name</Name>
	</Robot>
	<MQTT_Client>
		<BrokerURL>127.0.0.1</BrokerURL>
			<Port>1883</Port>
			<ClientId></ClientId>
			<UserName></UserName>
			<Password></Password>
			<x509Certificate></x509Certificate>
			<CertificatePassword></CertificatePassword>
			<NetworkSecurity>None</NetworkSecurity> <!-- None / SSL -->
			<QoS>AtLeastOnce</QoS>
			<!-- AtMostOnce / AtLeastOnce / ExactlyOnce -->
			<KeepAlive>10</KeepAlive>
			<PublishRate>500</PublishRate>
			<Topic>GroupId/NodeId/DeviceId_01</Topic>
	<AutoRun>false</AutoRun>
	<Variables>
<!--
<Joint_Control_Currents RBE_DeadBand="Absolute;0.1" 
Enable_Publish="true"></Joint_Control_Currents>
<Actual_Tcp_Position RBE_OutOfRange="-2;2" 
Enable_Publish="true"></Actual_Tcp_Position>
<Target_Joint_Accelerations RBE="" 
Enable_Publish="false"></Target_Joint_Accelerations>
<Controller_Info RBE_DeadBand="Percentual;5" 
Enable_Publish="true"></Controller_Info>
-->
	</Variables>
	</MQTT_Client>
	<RTDE_Client>
		<IpAddress>127.0.0.1</IpAddress>
		<Port>30004</Port>
		<Frequency>125</Frequency>
		<AutoRun>false</AutoRun>
	</RTDE_Client>
</Configuration>

Configuration Parameters Guide 

<Robot>

<Name>: 

Description: The unique name assigned to the robot. 

Format: String. 

<MQTT_Client>

<BrokerURL>: 

 Description: The URL of the MQTT broker to which the client should connect. 

Format: String with URL format (e.g.: mqtt://broker.example.com). 

<Port>: 

 Description: The port number for the MQTT connection. 

Format: Integer (e.g. 1883). 

<ClientId>: 

 Description: Unique identifier for the client in the MQTT broker. 

Format: String. 

<UserName> and <Password>: 

 Description: Credentials for authentication to the MQTT broker, if required. 

Format: String. 

<x509Certificate>: 

 Description: Path to the x509 certificate, used when SSL is enabled. 

Format: Path to the file. 

<CertificatePassword>: 

 Description: Password of the x509 certificate. 

Format: String. 

<NetworkSecurity>: 

 Description: Specifies the network security type for the MQTT connection. 

Options: None, SSL. 

<QoS>: 

 Description: Quality of service for MQTT messages. 

Options: AtMostOnce, AtLeastOnce, ExactlyOnce. 

<KeepAlive>: 

 Description: Time interval (in seconds) that the client must wait between sending control packets. 

Format: Integer. 

<PublishRate>: 

 Description: rate at which MQTT messages are published. 

Format: Integer, in milliseconds. 

<Topic>: 

 Description: The MQTT topic in which the messages are published. 

Format: String with the topic structure (e.g. GroupId/NodeId/DeviceId_01). 

<AutoRun>: 

 Description: If true, starts MQTT communication automatically upon initialization. 

Options: true, false. 

<Variables>: 

 Description: List of variables with additional settings. 

Format: Commented in XML, by default. Can be uncommented and configured as needed. 

<RTDE_Client>

<IpAddress>: 

 Description: The IP address of the RTDE client. 

Format: String with IP address format (e.g. 192.168.1.1). 

<Port>: 

 Description: The port number for the RTDE connection. 

Format: Integer (e.g. 30004). 

<Frequency>: 

 Description: Communication frequency in Hz. 

Format: Integer. 

<AutoRun>: 

 Description: If true, starts RTDE communication automatically on initialization. 

Options: true, false.

For the application to accurately read the file, certain criteria MUST be fulfilled: 

• FileName: The document should be named ConfigFile.xml. 

• FilePath: The document should be positioned within the /Programs/MQTTspB URCaps directory. 
• PolyScope will interpret this file each time it's initiated (provided the URCap has been installed). Modifying its content while the software operates is NOT permitted. 
• In scenarios where the file is absent during PolyScope's boot-up, the configuration fields will be populated with standard settings. Each time a Client is activated or halted, the file is refreshed to mirror the configured parameters. Moreover, if absent, a new file is generated. 
• The Variables entry permits users to activate or deactivate DataModel branches and also modify a branch's Change Event Definition. This configuration dictates when an event should be communicated to the MQTT Broker. By default, or if the entry is devoid of data, all alterations will be documented. 

A sample configuration file can be downloaded here.

Variables entry allows you to Enable/Disable DataModel branches and customize a branch’s Change Event Definition. This definition determines when an event occurs to be published to the MQTT Broker. By default — or when entry is empty/blank —, all value changes will be reported.

The syntax to be utilized is detailed as: 

• [VariableName]: Represents the data model's path name; such as Joint Control Currents. 
• RBE DeadBand=<RBE Options>;<Value>: A report type enabling users to designate either an ”Absolute” or ”Percentual” deadband for each branch. 
• RBE OutOfRange=<Min>;<Max>: This report type allows users to set a Min/Max boundary for each branch. 
• [Enable Publish=”true” or ”false”]: Regulates the data publication for the specified tree. 

Example

<Joint_Control_Currents 
	RBE_DeadBand="Absolute;0.1" Enable_Publish="true">
</Joint_Control_Currents>

There are two possible RBE DeadBand options: 

• Absolute: Deadband value is absolute value. 

• Percentual: Deadband is calculated based on percentual values. 

It is important to know variable customizations will be applied to the specified Branch and all its children, unless they have their own customization. 

This entry can be customized ONLY through the .xml file. 

Robot Runtime DataModel

The DataModel published to the MQTT Broker is pre-defined based on various UDTs (User-Defined Types). Click here to download an example *.html file.

When the MQTTspB Client is started, if connected to the Broker, you should be able to see the Robot data model using a different Client. The images below illustrate the model with FRAMEWORXclient.

Implemented Robot Variables

This section will detail how the DataStructure is modeled.

Robot Name

Can be customized with the XML file only.

Arm Info

Axis:

1. Target Joint Positions: RTDE Parameter target q.
2. Target Joint Velocities: RTDE Parameter target qd.
3. Target Joint Accelerations: RTDE Parameter target qdd.
4. Target Joint Currents: RTDE Parameter target current.
5. Target Joint Moments: RTDE Parameter target moment.
6. Joint Control Currents: RTDE Parameter joint control output.
7. Joint Temperatures: Temperature of each joint in degrees Celsius. RTDE Parameter joint temperatures.
8. Joint Voltages: Actual joint voltages. RTDE Parameter actual joint voltage.
9. Joint Position: Actual joint position. RTDE Parameter actual q.

Tool Center Point:

1. Actual TCP Force: Generalized forces in the TCP. It compensates the measurement for forces and torques generated by the payload. RTDE Parameter actual TCP force.
2. Actual TCP Position: Actual Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation. RTDE Parameter actual TCP pose.
3. Actual TCP Speed: Actual speed of the tool given in Cartesian coordinates. The speed is given in [m/s] and the rotational part of the TCP speed (rx, ry, rz) is the angular given in [rad/s]. RTDE Parameter actual TCP speed.
4. Payload:
   1. Mass: Payload mass in kg. RTDE Parameter payload.
   2. Payload CoG: Payload Center of Gravity (CoGx, CoGy, CoGz) in mm. RTDE Parameter payload cog.
   3. Payload Inertia: Payload inertia matrix elements (Ixx,Iyy,Izz,Ixy,Ixz,Iyz] expressed in kg.mm². RTDE Parameter payload inertia.
5. Tool:
   1. Tool Mode: Tool mode. RTDE Parameter tool mode.
   2. Tool Analog Input 0: Tool analog input 0 [mA or V]. RTDE Parameter tool analog input0.
   3. Tool Analog Input 1: Tool analog input 1 [mA or V]. RTDE Parameter tool analog input1.
   4. Tool Output Voltage: Tool output voltage [V]. RTDE Parameter tool output voltage.
   5. Tool Output Current: Tool current [mA]. RTDE Parameter tool output current.
   6. Tool Temperature: Tool temperature in degrees Celsius. RTDE Parameter tool temperature.
   7. Tool Force Scalar: TCP force scalar [N]. RTDE Parameter tcp force scalar.
   8. Wrist3: RTDE Parameter actual TCP pose.

Controler Info

1. Timestamp: Time elapsed since the controller was started [s]. RTDE Parameter timestamp. Controller Temp: Tool temperature in degrees Celsius. RTDE Parameter tool temperature. Main Voltage: Safety Control Board: Main voltage. RTDE Parameter actual main voltage.
2. Current: Safety Control Board: Robot current. RTDE Parameter actual robot current. e Avg Robot Power: given by the expression ( Σ(ActualRobotCurrent∗ActualRobotV oltage) )
3. IO Current: I/O current [mA]. RTDE Parameter io current.
4. Tool Current: Tool current [mA]. RTDE Parameter tool output current.

Metadata

UNS

String variables that do not exist in RTDE context:

1. Area.
2. Cell.
3. Line
4. Site.

Control

1. Speed Slider Mask: 0 = do not change the speed slider with this input. 1 = use the speed slider fraction to set the speed slider value. RTDE Parameter: speed slider mask.
2. Speed Slider Fraction: New speed slider value. RTDE Parameter : speed slider fraction.
3. Standard Digital Output: Standard digital outputs. RTDE Parameter : standard digital output.
4. Configurable Digital Output: Configurable digital outputs. RTDE Parameter : configurable digital output.
5. Standard Analog Output 0: Standard analog output 0 (ratio) [0..1]. RTDE Parameter : standard analog output 0.
6. Standard Analog Output 1: Standard analog output 1 (ratio) [0..1]. RTDE Parameter : standard analog output 1.
7. Input Bit Registers 0 to 31: This range of the boolean input registers is reserved for FieldBus/PLC interface usage. RTDE Parameter  : input bit registers0 to 31.
8. Input Bit Register X: X: [64..127] - The upper range of the boolean input registers can be used by external RTDE clients. RTDE Parameter :  input bit register X.
9. Input Int Register X: X: [0..23] - The lower range of the integer input registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer input registers can be used by external RTDE clients. RTDE Parameter : input int register X.
10. Input Double Register X: X: [0..23] - The lower range of the double input registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the double input registers can be used by external RTDE clients . RTDE Parameter  : input double register X.
11. External Force Torque: Input external wrench when using ft rtde input enable builtin. RTDE Parameter : external force torque.

Status:

1. Robot Mode: Robot mode. RTDE Parameter: robot mode.
2. Robot Power On: Power on. RTDE Parameter: robot status bits.
3. Security Stopped: Stopped due to safety. RTDE Parameter: safety status bits.
4. Emergency Stopped: Emergency stopped . RTDE Parameter: safety status bits.
5. Teach Button Pressed: Teach button pressed. RTDE Parameter: robot status bits.
6. Power Button Pressed: Power button pressed. RTDE Parameter: robot status bits.
7. Program State: Program state. RTDE Parameter: runtime state.

IO:

1. Tool Output Mode: The current output mode. RTDE Parameter: tool output mode.
2. Tool Digital Output 0 Mode: The current mode of digital output 0. RTDE Parameter: tool digital output0 mode.
3. Tool Digital Output 1 Mode: The current mode of digital output 1. RTDE Parameter: tool digital output1 mode.
4. IO Current: I/O current [mA]. RTDE Parameter: io current.
5. Analog In 0: Standard analog input 0 [mA or V]. RTDE Parameter: standard analog input 0.
6. Analog In 1: Standard analog input 0 [mA or V]. RTDE Parameter: standard analog input 1.
7. Analog Out 1: Standard analog output 1 [mA or V]. RTDE Parameter: standard analog output 1.
8. EuroMap67:
   1. Current: Euromap 24V current [mA]. RTDE Parameter: euromap67 24V current.
   2. Voltage: Euromap 24V voltage [V]. RTDE Parameter: euromap67 24V voltage.
   3. Input Status: Euromap67 input bits. RTDE Parameter: euromap67 input bits.
   4. Output Status: Euromap67 output bits. RTDE Parameter: euromap67 output bits.
9. Registers:
   1. Output Bit Register X: X: [64..127] - The upper range of the boolean output registers can be used by external RTDE clients. RTDE Parameter: output bit register X.
   2. Output Int Register X: X: [0..23] - The lower range of the integer output registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer output registers can be used by external RTDE clients. RTDE Parameter output int register X.
   3. Output Double Register X: X: [0..23] - The lower range of the double output registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the double output registers can be used by external RTDE clients. RTDE Parameter: output double register X.
   4. Input Bit Registers 0 to 31: This range of the boolean input registers is reserved for FieldBus/PLC interface usage. RTDE Parameter: input bit registers0 to 31.
   5. Input Bit Registers 32 to 63: This range of the boolean input registers is reserved for FieldBus/PLC interface usage. RTDE Parameter: input bit registers 32 to 63.
   6. Input Bit Register X: X: [64..127] - The upper range of the boolean input registers can be used by external RTDE clients. RTDE Parameter: input bit register X.
   7. Input Int Register X: X: [0..23] - The lower range of the integer input registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer input registers can be used by external RTDE clients. RTDE Parameter: input int register X.
   8. Input Double Register X: X: [0..23] - The lower range of the double input registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the double input registers can be used by external RTDE clients . RTDE Parameter: input double register X.

Safety:

1. Safety Mode: Safety mode. RTDE Parameter: safety mode.
2. Safety Status: Safety status. RTDE Parameter: safety status.
3. Unlock Protective Stop: Not implemented yet.
4. Close Safety Popup: Not implemented yet.

Control:

1. Power On: Not implemented yet.
2. Power Off:Not implemented yet.
3. Brake Release: Not implemented yet. 
4. Alarms Level: EXCEPTION MESSAGE, ERROR MESSAGE, WARNING MESSAGE, INFO MESSAGE.
5. Message: Alarm message.
6. Source: Source that generated the alarm.

OEE:

String variables that do not exist in RTDE context.

1. Availability Info
   1. Available Time.
   2. Machine Runtime.
2. Performance Info
   1. Parts Could Be Produced.
   2. Parts Produced in Total.
3. Quality Info
   1. Good Parts Produced.
   2. Good Parts Produced in Total.

Productivity:

String variables that do not exist in RTDE context.

1. Personnel
1. Operator.
2. Supervisor.
2. Work Order
1. Family Info.
2. Number of Parts.

System Monitor:

1. Avg CPU Load.
2. System CPU.
3. Process CPU.
4. Memory Load.
5. Total Memory.
6. Used Memory.

Troubleshooting 

This section provides guidance on how to solve some common issues you may encounter while using the MQTTspB Client URCap. 

WinSCP Errors: 

WinSCP is commonly utilized to transfer files and access the robot. Here are some frequent issues and their fixes: 

Connection Timeout or Refused: Ensure you're using the correct IP address and port for the robot. Check if the robot is powered on and reachable on the network. Sometimes, restarting both the robot and the computer can help. 

Authentication Failed: This error can arise if you enter the wrong username or password. Verify your credentials and try again. 

Unable to Transfer Files: If you're having problems transferring files, check the available storage on the robot. Additionally, verify the file's format and size are supported by the robot's system. 

Permission Denied: You might not have the required permissions to access specific directories or files on the robot. Ensure you're logged in with the right user privileges. 

Host Has Not Answered for More Than 15 Seconds: This could be due to a temporary network glitch or the robot being busy. Click "Retry" a couple of times. If it continues, check your network connection. 

Connection Errors: 

If you're having difficulty connecting to the MQTT Broker, ensure you've entered the Broker's details accurately in the MQTT Broker Info tab. Validate the Server and Client Certificates, Client Certificate Key, and the Certificate Password. Ensure the .pem files are accessible and correctly linked in the publisher. 

Data Transmission Issues: 

If data isn't being sent as anticipated, confirm that the topics/addresses and command buttons in the Communication Manager tab are set up correctly. 

URCap Installation Problems: 

For any issues encountered during URCap installation, ensure you've followed the installation procedures correctly. The *.urcap file should be in the right directory, and PolyScope must be rebooted post-installation. 

Certificate Errors: 

For certificate-related errors, ensure all essential certificate files are available and appropriately linked. Verify the files are in the correct .pem format and that the paths in the publisher are set accurately. 

Revision History

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