Controlling a UR5e cobot using the AXC F 2152

PLCnext Technology & PLCnext Controls
1

Hello,
For a project I’m working on I would like to be able to control the UR5e cobot using the AXC F 2152, the cobot has a realtime protocol called RTDE which already has C++ libraries that seem very capable of doing what I need.
Which steps can I take to implement these libraries so that I can use them within PLCnext engineer?

2

Dear Yael,
Please contact support@phoenixcontact.nl directly, I will be able to help a bit easier that way. If and when we find a solution we will append it here in the community for other members to see.

With kind regards,
Damian Bombeeck
Technical Consultant
IMA Technical Sales Support The Netherlands

3

Dear
I’ve created a C++ PLCnext project using the RTDE libary. Unfortunately the community won’t let me share the files. I have attached a general how-to on cross compiling 3rd party libraries.
Manual_CrossCompilation.docxIn general the steps to use 3rd party libraries are:
Download the source files from github (https://github.com/UniversalRobots/Universal_Robots_Client_Libraryimage.pngimage.png

  1. )
  2. Create a buildscript to cross-compile the source files which creates a shared object file for the PLCnext
  3. Create a PLCnext C++ project and add the includes as well as the shared object file to the CMake file and the „external“ folder
  4. Add the desired includes to the header file of the project
  5. You can now use the functions from the library.

Manual_CrossCompilation.docx