Dashboard Server e-Series, port 29999 - 42728


DASHBOARD SERVER COMMANDS FOR e-SERIES ONLY 

Examples are valid for:
e-Series Software version: 5.0

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.

NOTE:

  • Commands are not case sensitive.
  • Dashboard commands for e-Series can be found here: CB-Series DashBoard commands
  • If a command is send but not allowed, the below error is returned
    "Command is not allowed due to safety reasons, please switch robot to Remote Control mode and reconnect to port 29999"

 

 Command

 Return value

 Description

Local Control mode

Remote Control mode

Supported
from
version

load <program.urp>

On success:

  • "Loading program: <program.urp>"

On Failure:

  • "File not found: <program.urp>"
  • "Error while loading program: <program.urp>:<reason of error>"

Returns when both program and associated installation has loaded (or failed).

The load command fails if the associated installation requires confirmation of safety. The return value in this case will be 'Error while loading program'.

 

X

5.0.0

play

On success:

  • "Starting program"

 On failure:

  • "Failed to execute: play"

Returns failure if the program fails to start. In previous versions this did not happen in all cases.

 

X

5.0.0

stop

On success:

  • "Stopped"

On failure:

  • "Failed to execute: stop"

Returns failure if the program fails to stop. In previous versions this did not happen in all cases.

 

X

5.0.0

pause

On success:

  • "Pausing program"

On failure:

  • "Failed to execute: pause"

Returns failure if the program fails to pause. In previous versions this did not happen in all cases.

 

X

5.0.0

quit

"Disconnected"

Closes connection

X

X

5.0.0

shutdown

"Shutting down"

Shuts down and turns off robot and controller

X

X

5.0.0

running

"Program running: True" OR "Program running: False"

Execution state enquiry

X

X

5.0.0

robotmode

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

  • NO_CONTROLLER
  • DISCONNECTED
  • CONFIRM_SAFETY
  • BOOTING
  • POWER_OFF
  • POWER_ON
  • IDLE
  • BACKDRIVE
  • RUNNING

Robot mode enquiry

X

X

5.0.0

get loaded program

"Loaded program: <path to loaded program file>" OR "No program loaded"

Which program is loaded

 

X

5.0.0

popup <popup-text>

"showing popup"

The popup-text will be translated to the selected language, if the text exists in the language file

X

X

5.0.0

close popup

"closing popup"

Closes the popup

X

X

5.0.0

addToLog <log-message>

"Added log message" Or "No log message to add"

Adds log-message to the Log history

X

X

5.0.0

isProgramSaved

"True" OR "False"

Returns the save state of the active program and path to loaded program file.

X

X

5.0.0

programState

"STOPPED" if no program is running
"PLAYING" if program is running
"PAUSED" if program is paused

Returns the state of the active program and path to loaded program file, or STOPPED if no program is loaded

X

X

5.0.0

PolyscopeVersion

version number, like " 5.0.4.30603"

Returns the version of the PolyScope software

X

X

5.0.0

set operational mode <mode>, where <mode> is

  • manual
  • automatic

"Setting operational mode: <mode>" OR "Failed setting operational mode: <mode>"

  • manual = Loading and editing programs is allowed
  • automatic = Loading and editing programs and installations is not allowed, only playing programs

If this function is called the operational mode cannot be changed from PolyScope, and the user password is disabled.

Controls the operational mode. See User manual for details.

WARNING: This functionality is intended for using e.g. Ethernet based Key Card Readers to switch operational modes. The device for switching operational mode should be placed in vicinity to the robot.

X

X

5.0.0

clear operational mode

"operational mode is no longer controlled by Dashboard Server"

If this function is called the operational mode can again be changed from PolyScope, and the user password is enabled.

 

X

X

5.0.0

power on

"Powering on"

Powers on the robot arm

 

X

5.0.0

power off

"Powering off"

Powers off the robot arm

 

X

5.0.0

brake release

"Brake releasing"

Releases the brakes

 

X

5.0.0

safetymode

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

  • NORMAL
  • REDUCED
  • PROTECTIVE_STOP
  • RECOVERY
  • SAFEGUARD_STOP
  • SYSTEM_EMERGENCY_STOP
  • ROBOT_EMERGENCY_STOP
  • VIOLATION
  • FAULT

Safety mode enquiry

X

X

5.0.0

unlock protective stop

"Protective stop releasing"

Closes the current popup and unlocks protective stop

 

X

5.0.0

close safety popup

"closing safety popup"

Closes a safety popup

 

X

5.0.0

load installation

<default.installation>

 

 On success:

  • "Loading installation: <default.installation>"

On failure:

  • "File not found: <default.installation>"
  • "Failed to load installation: <default.installation>"

Loads the specified installation file but does not return until the load has completed (or failed).

The load command fails if the associated installation requires confirmation of safety. The return value will be 'Failed to load installation'.

 

X

5.0.0

restart safety

Restarting safety

Used when robot gets a safety fault or violation to restart the safety. After safety has been rebooted the robot will be in Power Off.

IMPORTANT:  You should always ensure it is okay to restart the system. It is highly recommended to check the error log before using this command (either via PolyScope or e.g. ssh connection).

   X 5.1.0 

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 IP-address and subnet mask on PC, so it matches the robot, e.g.:

PC: IP-addr: 192.168.3.10 Robot: IP-addr: 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:

Test

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