A simple OPC UA server for Universal robots in ruby, which uses the ur-sock and opcua-smart library.
A simple ruby server, which uses the ur-sock and opcua-smart library.
Prerequisites & Intallation
For this server the OPC UA installation of the opcua-smart gem is required. Please follow the instructions at https://github.com/etm/opcua-smart and install the opcua gem.
Additionally you have to install the URUA gem with:
gem install urua
If you want to develop or extend the server, just use the following instruction
git clone https://github.com/fpauker/urua git clone https://github.com/fpauker/ur-sock git clone https://github.com/etm/opcua-smart
Just follow the install instructions of the 3 projects. After installing all packages do
in this directory the devserver.rb and the devserver.config are located.
Starting the server
To start the server type in the following commands:
cd urua/server ./uruaserver.rb start
cd urua/server ./devserver.rb start
to start the developing server.
The server's adress space is shown in the pictures below.
It offers several features combining 3 different interfaces of the Universal robot. It uses the
- Primary Secondary Interface for direct execution of UR scripts
- Dashboard server for orchestration functions e.g. starting/stopping a program
- RTDE interface for getting the robot states
Please read CONTRIBUTING.md for details on our code of conduct, and the process for submitting pull requests to us.
- Florian Pauker - OPC UA Modelling -
- Jürgen Mangler - Ruby Support -
See also the list of contributors who participated in this project.
This project is licensed under the GPL3 License - see the LICENSE.md file for details
- This work has been funded by the FFG