43 lines
1.0 KiB
Python
43 lines
1.0 KiB
Python
import urx
|
|
import time
|
|
import logging
|
|
|
|
r = urx.Robot("192.168.111.134", use_rt=True, urFirm=5.1)
|
|
|
|
if __name__ == "__main__":
|
|
logging.basicConfig(level=logging.INFO)
|
|
while 1:
|
|
try:
|
|
j_temp = r.get_joint_temperature()
|
|
j_voltage = r.get_joint_voltage()
|
|
j_current = r.get_joint_current()
|
|
main_voltage = r.get_main_voltage()
|
|
robot_voltage = r.get_robot_voltage()
|
|
robot_current = r.get_robot_current()
|
|
|
|
print("JOINT TEMPERATURE")
|
|
print(j_temp)
|
|
|
|
print("JOINT VOLTAGE")
|
|
print(j_voltage)
|
|
|
|
print("JOINT CURRENT")
|
|
print(j_current)
|
|
|
|
print("MAIN VOLTAGE")
|
|
print(main_voltage)
|
|
|
|
print("ROBOT VOLTAGE")
|
|
print(robot_voltage)
|
|
|
|
print("ROBOT CURRENT")
|
|
print(robot_current)
|
|
|
|
print("##########\t##########\t##########\t##########")
|
|
|
|
time.sleep(1)
|
|
|
|
except:
|
|
pass
|
|
|
|
r.close() |