Introduction to Script Protocol

Introduction

The script protocol supports external devices in sending script strings to the robot's controller, which will load the script and execute the commands.

Supported Transport Protocols and Port Numbers

The SCRIPT function module in the AUBO SDK supports TCP Socket, HTTP, and WebSocket transport protocols, with the corresponding port numbers as follows:

Protocol	Port number
TCP Socket	30002
HTTP	30003
WebSocket	30003

Script Protocol Specification

Script strings sent from external devices to the robot controller via TCP Socket protocol must end with \r\n\r\n.

Example of Sending Script Strings

The following introduces examples of sending scripts via TCP Socket, HTTP, and WebSocket communication. The script string sent in the example is as follows:

Note: This script string is written for the i5 model robot arm.

return function(api)
    local _ENV =  require('aubo').sched.select_robot(1)
    home = { -0.000003, -0.127267, -1.321124, 0.37694, -1.570796, -0.000008 }
    move1 = { -0.400318, 0.064315, 0.547598, 3.14, 0.0, -2.63782 }
    move2 = { -0.400318, 0.064315, 0.379989, 3.14, 0.0, -2.63782 }
    move3 = { -0.400318, 0.064315, 0.547598, 3.14, 0.0, -2.63782 }
    move4 = { -0.400319, -0.298610, 0.547598, 3.14, 0.435471,  -1.57 }
    move5 = { -0.400319, -0.243865, 0.429931, 3.14, 0.435471,  -1.57 }
    move6 = { -0.400319, -0.298610, 0.547598, 3.14, 0.435471,  -1.57 }
    -- Set the Tool Center Point (TCP offset relative to the flange center)
    setTcpOffset({0,0,0,0,0,0})
    -- Set the speed ratio
    setSpeedFraction(0.75)
    -- Joint movement
    moveJoint(home, 3.14, 3.14, 0.0, 0)
    -- Linear movement
    moveLine(move1, 2, 1, 0.0, 0)
    moveLine(move2, 2, 1, 0.0, 0)
    moveLine(move3, 2, 1, 0.0, 0)
    moveLine(move4, 2, 1, 0.02, 0)
    moveLine(move5, 2, 1, 0.0, 0)
    moveLine(move6, 2, 1, 0.02, 0)	
end

Send Scripts Based on TCP Socket Communication

The IP address for sending scripts via TCP Socket is the robot's IP, and the port number is 30002.

The operation steps for sending script strings via the TCP Debug Assistant are described briefly below:

1. After entering the robot's IP address and port number, establish a connection. Once connected successfully, the Socket status shows connected.

   

2. Enter the script string, press the Enter key twice at the end of the script, and click "Send Data".

   Note: The script string sent to the robot controller via the TCP Socket protocol must end with \r\n\r\n. \r\n represents the carriage return and line feed character. Therefore, after pasting the script into the TCP debugging assistant, it is necessary to press the Enter key at least twice at the end.

   

3. After successful sending, the received data will be displayed.

Send Scripts Based on WebSocket Communication

The URL address for sending scripts via WebSocket is ws://localhost:30003. Here, localhost represents the robot's IP address, and 30003 is the port number for WebSocket.

The operation steps for sending script strings via the web-based WebSocket testing tool are described briefly below:

1. WebSocket online testing tool: [EasySwoole-WebSocket Online Testing Tool] (http://www.easyswoole.com/wstool.html)

2. After entering the URL address, establish a connection. Once connected successfully, the server configuration status shows that the connection is successful.

   

3. Enter the script string and click "Send to Server".

   

4. After successful sending, the received message will be displayed.

   

Sending Script Based on HTTP Communication Example

The URL address for sending the script via HTTP is localhost:30003/aubo_script. Here, localhost represents the robot's IP address, and 30003 is the port number for HTTP.

The operation steps for sending script strings via the Postman are described briefly below:

1. Open Postman, select the request action as POST, and enter the URL address.

   

2. In the Body section, enter the script string and click "Send".

   

3. After successful sending, the received message will be displayed.