Robot Web Service

Port

C:\Users\CNMIZHU7\AppData\Local\ABB\RobotWare\RobotWare_6.13.0176\system\appweb.conf

Listen 46131

rapid symbol data

username = "Default User"
password = "robotics"
web_service_connection = WebServiceConnection("localhost", 6155, username, password)

url = f"http://{WebServiceConnection.get_host()}:{WebServiceConnection.get_port()}/rw/rapid/symbol/data/RAPID/T_ROB1/user/reg1?json=1"
resp = WebServiceConnection.get_session().get(url, cookies=WebServiceConnection.get_cookies())
obj = json.loads(resp.text)
reg1 = obj["_embedded"]["_state"][0]["value"]
print(reg1)

Get or Update IO Signal Value

username = "Default User"
password = "robotics"
web_service_connection = WebServiceConnection("localhost", 6155, username, password)

url = f"http://{WebServiceConnection.get_host()}:{WebServiceConnection.get_port()}/rw/iosystem/signals/EtherNetIP/PPABOARD/doTrigVis1?json=1"
resp = WebServiceConnection.get_session().get(url, cookies=WebServiceConnection.get_cookies())
obj = json.loads(resp.text)
doTrigVis1 = obj["_embedded"]["_state"][0]["lvalue"]
print(doTrigVis1)

url = f"http://{WebServiceConnection.get_host()}:{WebServiceConnection.get_port()}/rw/iosystem/signals/EtherNetIP/PPABOARD/doTrigVis1?action=set"
payload = {"lvalue": 0 if doTrigVis1 == "1" else 1}
resp = WebServiceConnection.get_session().post(url, cookies=WebServiceConnection.get_cookies(), data=payload)
print(resp)

Pulase Signal

可以设置脉冲一次或多次，如果多次，需要设置正周期和负周期

url = f"http://{WebServiceConnection.get_host()}:{WebServiceConnection.get_port()}/rw/iosystem/signals/EtherNetIP/PPABOARD/doTrigVis1?action=set"
payload = {"lvalue": 1, "mode": "pulse", "Pulses":1}
# payload = {"lvalue": 1, "mode": "pulse", "Pulses":10, "ActivePulse":200, "PassivePulse":200, "userlog": "true"}
resp = WebServiceConnection.get_session().post(url, cookies=WebServiceConnection.get_cookies(), data=payload)
print(resp)