Interpreter Mode

Interpreter Mode lets you send URScript statements while your program is running. To do this, your robot program must call the blocking function interpreter_mode(). While your robot program is in this mode, you can call any of the functions described below. For more information on Interpreter Mode for Universal Robots, please refer to the official documentation: https://www.universal-robots.com/articles/ur/programming/interpreter-mode

In the robot, the Interpreter Mode Socket must be enabled in the Polyscope settings for security reasons, see : this page

Example

Once your robot program is in interpreter mode, you can play with the functions in robot.InterpreterMode.

using UnderAutomation.UniversalRobots;

class InterpreterMode
{
  static void Main()
  {
    var robot = new UR();

    var param = new ConnectParameters("192.168.0.1");

    // Enable Interpreter Mode
    param.InterpreterMode.Enable = true;

    // Connect to robot
    robot.Connect(param);

    //...

    // append lines of URScript to execute. The robot program should execute interpreter_mode() to run this.
    robot.InterpreterMode.ExecuteCommand("movej([0.94, -1.3, 2.2, -2.6, -1, 4], a=1, v=1)");
    robot.InterpreterMode.ExecuteCommand("set_digital_out(1, True)");
    robot.InterpreterMode.ExecuteCommand("movej([0.94, -1.3, 2.2, -2.6, -1, 4], a=1, v=1)");

    // ...

    // Request the robot program to quit interpreter_mode() and continue the program
    robot.InterpreterMode.EndInterpreter();

    // Disconnect from interpreter mode only
    robot.InterpreterMode.Disconnect();
  }
}

Connect

To enable interpreter mode, you must enable it in the connect parameters.

var param = new ConnectParameters("192.168.0.1");

// Enable Interpreter Mode
param.InterpreterMode.Enable = true;

Send script statements

Then, you can call ExecuteCommand() method to append script to the robot internal buffer.

End interpreter mode

The method EndInterpreterMode() allows to stop interpreter mode and force the robot to exit interpreter_mode() and continue the program execution.

Skip buffer

All script statements are stored in a buffer. You can empty this buffer with the method SkipBuffer().

Get state

Methods StateLastExecuted(), StateLastInterpreted(), StateLastCleared(), StateLastUnexecuted() returns informations about executing instructions.

Try it with the Windows example

API reference