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Robot UI is a web application for operating a voraus robot from a browser. You can switch the robot on and off, jog single axes, store poses and move the robot to them. An embedded 3D visualization shows the robot and what you are about to do. The application runs as a container next to voraus.core. Figure 1: The dashboard: 3D visualization, Pose Management and Jogging","s":"voraus Robot UI","u":"/static/projects/voraus-robot-ui/1.2.0/","h":"","p":1},{"i":4,"t":"voraus.core with Robot Control, reachable from the voraus Robot UI container over OPC UA. The Error Handler is optional. Docker with Docker Compose. A current desktop or tablet browser. The voraus parameter server (Pose Management) and voraus 3D Visu (3D Visualization) are optional. Continue with Installation.","s":"Requirements","u":"/static/projects/voraus-robot-ui/1.2.0/","h":"#requirements","p":1},{"i":6,"t":"voraus Robot UI reads these environment variables of the voraus-robot-ui service once at startup. After a change, run docker compose up -d so that Compose recreates the container. 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PARAMETER_SERVER_URL http://voraus-parameter:80 Base URL of the voraus parameter server as reachable from the container.","s":"Pose Management","u":"/static/projects/voraus-robot-ui/1.2.0/configuration","h":"#pose-management","p":5},{"i":12,"t":"Variable Default Effect VORAUS_3D_VISU_ENABLED true Shows the 3D Visualization widget. VORAUS_3D_VISU_BROWSER_URL required when enabled Base URL of the visualization as reachable from the browser. VORAUS_3D_VISU_SYNC_ENABLED true Whether voraus Robot UI adds the robot, the TCP frame, the jogging arrows and the pose previews to the visualization. VORAUS_3D_VISU_SYNC_URL required when sync is enabled Base URL of the visualization as reachable from the container. VORAUS_CORE_URL required when sync is enabled URL of voraus-core, used to read the robot configuration and the location of the robot model for the visualization. VORAUS_CORE_ASSET_URL value of VORAUS_CORE_URL URL of voraus-core as reachable from the visualization, which loads the robot model from it. Only needed when that differs from VORAUS_CORE_URL.","s":"3D Visualization","u":"/static/projects/voraus-robot-ui/1.2.0/configuration","h":"#3d-visualization","p":5},{"i":14,"t":"CODEMETER_HOST names the host of the CodeMeter runtime that holds the license, the codemeter service in the reference file. Every voraus service in the file is configured the same way.","s":"Licensing","u":"/static/projects/voraus-robot-ui/1.2.0/configuration","h":"#licensing","p":5},{"i":16,"t":"This page brings the complete stack up on one machine: voraus.core, the parameter server, the 3D visualization and voraus Robot UI, each as a container.","s":"Installation","u":"/static/projects/voraus-robot-ui/1.2.0/installation","h":"","p":15},{"i":18,"t":"Create an empty directory and save the following file in it as docker-compose.yml. It is the reference configuration with every widget enabled. The comments say what to adjust, and Configuration lists the environment variables of voraus-robot-ui. docker-compose.yml services: # CodeMeter runtime. All voraus services are licensed through it. It expects the license server # on the Docker host; if it runs elsewhere, set CODEMETER_LICENSE_SERVER, for example in a .env file. codemeter: hostname: codemeter image: docker.io/wibusystems/codemeter:9.10 environment: CM_REMOTE_SERVER: ${CODEMETER_LICENSE_SERVER:-host.docker.internal} extra_hosts: - host.docker.internal:host-gateway # Robot Control and Error Handler. voraus-core: image: voraus.jfrog.io/docker/voraus-core:2.27.0 hostname: voraus-core environment: CODEMETER_HOST: codemeter depends_on: codemeter: condition: service_healthy # Stores the poses of the Pose Management widget. Optional: to run without it, remove this # service and its depends_on entry below, and set PARAMETER_SERVER_ENABLED to \"false\". voraus-parameter: image: voraus.jfrog.io/docker/voraus-parameter:1.0.0 hostname: voraus-parameter volumes: - ./data:/data environment: CODEMETER_HOST: codemeter depends_on: codemeter: condition: service_healthy # Renders the robot for the 3D Visualization widget. Optional: to run without it, remove this # service and its depends_on entry below, and set VORAUS_3D_VISU_ENABLED to \"false\". voraus-3d-visu: image: voraus.jfrog.io/docker/voraus-3d-visu:3.1.3 hostname: voraus-3d-visu ports: - 8077:80 environment: CODEMETER_HOST: codemeter # Hosts the visualization may load models from. The robot model comes from voraus-core. V3DVISU_ALLOWED_HOSTS: voraus-core # Initial camera view. V3DVISU_CAMERA__POSITION: \"[8.5, 6.3, 4.2]\" V3DVISU_ORBITCONTROLS__INITIAL_TARGET: \"[0, 0, 0.5]\" # The address under which the browser opens voraus Robot UI. V3DVISU_POST_MESSAGE_ALLOWED_ORIGINS: '[\"http://localhost:3001\"]' depends_on: codemeter: condition: service_healthy voraus-robot-ui: image: voraus.jfrog.io/docker/voraus-robot-ui:1.2.0 # The UI exits when a service it needs is not reachable at startup, see Troubleshooting. restart: on-failure ports: - 3001:80 environment: CODEMETER_HOST: codemeter # Robot Control and Error Handler. With ERROR_HANDLER_ENABLED \"false\", error resets go to # Robot Control and OPCUA_ERROR_URL is not needed. OPCUA_URL: opc.tcp://voraus-core:48401/ OPCUA_ERROR_URL: opc.tcp://voraus-core:48404/ ERROR_HANDLER_ENABLED: \"true\" # Pose Management, needs the voraus-parameter service. PARAMETER_SERVER_ENABLED: \"true\" PARAMETER_SERVER_URL: http://voraus-parameter:80 # 3D Visualization, needs the voraus-3d-visu service. Without it, the three URLs below are # not needed. VORAUS_3D_VISU_SYNC_ENABLED \"false\" keeps the widget but stops voraus Robot UI # from adding the robot, the jogging arrows and the pose previews to the scene. VORAUS_3D_VISU_ENABLED: \"true\" VORAUS_3D_VISU_SYNC_ENABLED: \"true\" VORAUS_3D_VISU_BROWSER_URL: http://localhost:8077 # as reachable by the browser VORAUS_3D_VISU_SYNC_URL: http://voraus-3d-visu:80 # as reachable by this container VORAUS_CORE_URL: http://voraus-core:80 # robot configuration and model for the visualization depends_on: voraus-core: condition: service_healthy voraus-parameter: condition: service_healthy voraus-3d-visu: condition: service_healthy codemeter: condition: service_healthy Connecting voraus.core to your robot is configured on the voraus-core service. See the voraus.core documentation for that. The parameter server keeps the poses in ./data next to the Compose file. To back them up, stop the stack and copy that directory.","s":"1. Create the Compose file","u":"/static/projects/voraus-robot-ui/1.2.0/installation","h":"#1-create-the-compose-file","p":15},{"i":20,"t":"docker compose up -d The first start pulls the images. voraus Robot UI waits until voraus.core, the parameter server and the visualization report healthy, so it is the last container to come up. Then open http://localhost:3001. If the page shows No Connection, see Troubleshooting. Otherwise continue with the User guide.","s":"2. Start the stack and open the user interface","u":"/static/projects/voraus-robot-ui/1.2.0/installation","h":"#2-start-the-stack-and-open-the-user-interface","p":15},{"i":22,"t":"The dashboard rearranges its panels to the widgets that are enabled. Without the parameter server. Remove the voraus-parameter service and its depends_on entry, and set PARAMETER_SERVER_ENABLED to \"false\". The Pose Management widget disappears. Without the 3D visualization. Remove the voraus-3d-visu service and its depends_on entry, and set VORAUS_3D_VISU_ENABLED to \"false\". The 3D Visualization widget disappears. To keep the widget but leave the scene to another application, set VORAUS_3D_VISU_SYNC_ENABLED to \"false\" instead; voraus Robot UI then adds nothing to the scene.","s":"Adapting the stack","u":"/static/projects/voraus-robot-ui/1.2.0/installation","h":"#adapting-the-stack","p":15},{"i":24,"t":"Two values in the reference file contain localhost: VORAUS_3D_VISU_BROWSER_URL on voraus-robot-ui and V3DVISU_POST_MESSAGE_ALLOWED_ORIGINS on voraus-3d-visu. That works for a browser on the Docker host only. For other computers, replace localhost in both values with the name or address under which they reach the Docker host. All other URLs are used inside the Docker network and stay as they are.","s":"Access from other computers","u":"/static/projects/voraus-robot-ui/1.2.0/installation","h":"#access-from-other-computers","p":15},{"i":26,"t":"A reverse proxy can serve the user interface and the 3D visualization under one host name, each under its own path prefix, for example http://robot-host.example.com/robot-ui and http://robot-host.example.com/3d-visu. Both services need the same two things from the proxy: Strip the prefix before forwarding, so the service receives / instead of /robot-ui/. Send the stripped prefix in the X-Forwarded-Prefix header. voraus Robot UI puts it into the base path of the web application, so the page loads its files and opens its WebSocket under the prefix. The proxy has to pass WebSocket connections through. Then adjust the two browser-facing values from the previous section. VORAUS_3D_VISU_BROWSER_URL is the public address of the visualization, http://robot-host.example.com/3d-visu. V3DVISU_POST_MESSAGE_ALLOWED_ORIGINS is the origin of the user interface, which has no path, http://robot-host.example.com. With TLS at the proxy, both start with https://. The ports 3001 and 8077 can then be removed from the Compose file. The voraus 3D Visu documentation shows a complete Traefik setup for the visualization; voraus Robot UI takes the same labels with its own prefix.","s":"Behind a reverse proxy","u":"/static/projects/voraus-robot-ui/1.2.0/installation","h":"#behind-a-reverse-proxy","p":15},{"i":29,"t":"voraus Robot UI checks its configuration and its connections at startup and exits when one of them fails. Compose restarts it until the cause is fixed. The reason is in the last lines of docker compose logs voraus-robot-ui: Robot Control is not available. OPCUA_URL does not point to a running Robot Control, or voraus-core is still starting. The reference file waits for voraus.core to be healthy before it starts the UI. If you removed that dependency, add it back. Error Handler is not available. OPCUA_ERROR_URL does not point to a running Error Handler. To work without the Error Handler, set ERROR_HANDLER_ENABLED to \"false\". voraus-parameter is not available. PARAMETER_SERVER_URL is wrong, or the service was removed without setting PARAMETER_SERVER_ENABLED to \"false\". A variable is required. The message names it, see Configuration.","s":"The container keeps restarting","u":"/static/projects/voraus-robot-ui/1.2.0/troubleshooting","h":"#the-container-keeps-restarting","p":27},{"i":31,"t":"The browser has lost the WebSocket to the voraus Robot UI container and retries every second until it is back. The container is restarting or has stopped. Check docker compose ps. The browser is offline. A reverse proxy in between does not forward WebSocket upgrades, see Behind a reverse proxy.","s":"The page shows \"No Connection\"","u":"/static/projects/voraus-robot-ui/1.2.0/troubleshooting","h":"#the-page-shows-no-connection","p":27},{"i":33,"t":"The browser cannot load VORAUS_3D_VISU_BROWSER_URL. Open that URL in a new tab on the same machine. It has to show the visualization on its own.","s":"The 3D Visualization panel is empty","u":"/static/projects/voraus-robot-ui/1.2.0/troubleshooting","h":"#the-3d-visualization-panel-is-empty","p":27},{"i":35,"t":"The visualization ignores the messages of the browser because it does not trust the origin. Add the address your browser shows for the UI, scheme, host and port but no path, to V3DVISU_POST_MESSAGE_ALLOWED_ORIGINS on the voraus-3d-visu service. http://localhost:3001 on the Docker host is a different origin than http://192.168.1.20:3001 from another computer, and both need an entry if both are used. If VORAUS_3D_VISU_SYNC_ENABLED is \"false\", this is expected: voraus Robot UI then sends nothing to the visualization.","s":"The robot is shown, but no arrows and no pose previews","u":"/static/projects/voraus-robot-ui/1.2.0/troubleshooting","h":"#the-robot-is-shown-but-no-arrows-and-no-pose-previews","p":27},{"i":37,"t":"The server needs VORAUS_3D_VISU_SYNC_URL and VORAUS_CORE_URL. The visualization loads the robot model from voraus-core and only from hosts listed in its V3DVISU_ALLOWED_HOSTS. See Configuration.","s":"The robot is not shown in the visualization","u":"/static/projects/voraus-robot-ui/1.2.0/troubleshooting","h":"#the-robot-is-not-shown-in-the-visualization","p":27},{"i":39,"t":"Every motion control moves the real robot voraus Robot UI has no simulation mode. The robot moves only while a button is held and stops as soon as it is released. This does not replace the safety equipment of your cell. Figure 1: The dashboard with the Pose Management tab open The status bar shows the robot state and its controls, see Robot status and controls. Below it sits one panel per enabled widget: 3D Visualization, Jogging and Pose Management. Jogging is always there, the other two depend on the configuration. The switch in the header toggles between light and dark mode. The choice is kept per browser and also applies to the visualization. On small screens, Jogging and Pose Management share one panel and are switched with the tabs in its title bar. On large screens, at least 1000 px high and about 900 px wide, they are stacked next to the visualization instead, and on a narrow screen the visualization moves above the tabbed panel. The expand icon at the right of a title bar (Open jogging page, Open poses page) opens the widget on a page of its own that fills the browser window. The status bar moves to the top of that page and can be collapsed to a single line with the arrow at its right end. Minimize brings you back to the dashboard. Open 3D visualization opens the visualization in a new browser tab, for example on a second screen. When the browser loses the connection to voraus Robot UI, a No Connection notice covers the page until the browser has reconnected on its own. If it stays, see Troubleshooting.","s":"User guide","u":"/static/projects/voraus-robot-ui/1.2.0/user-guide/","h":"","p":38},{"i":41,"t":"The 3D Visualization panel embeds voraus 3D Visu and shows the robot as Robot Control commands it. voraus Robot UI adds a small coordinate frame at the tool center point, the magenta arrow for the axis selected in Jogging, and the preview of the pose selected or edited in Pose Management. The arrow stays visible through the robot. Arrow and preview are never shown together. The scene follows the widget you used last, or the active tab. If the robot is shown but arrows and previews are missing, see Troubleshooting.","s":"3D Visualization","u":"/static/projects/voraus-robot-ui/1.2.0/user-guide/3d-visualization","h":"","p":40},{"i":43,"t":"Jogging moves one axis at a time: a single joint, or a single Cartesian axis of the tool center point. Figure 1: Joint J1 selected for jogging, marked with an arrow in the 3D visualization Joint lists the joints of the robot, Cartesian the six axes of the tool center point in the robot base frame. Click a tile to select the axis. The 3D visualization draws a magenta arrow along it, so you see where Hold + will move the robot. The selection is remembered per coordinate system. In Continuous mode, Hold - and Hold + move the axis in the negative or positive direction while pressed. In Step mode, Step - and Step + move the axis by one step per press. Keep the button pressed until the step is complete. If you release it early, the robot stops where it is. Figure 2: Cartesian jogging in step mode The row above the buttons selects the speed or the step size. Its presets depend on the mode and on whether the selected axis rotates or translates: Mode Rotating axis Translating axis Continuous, Max speed 0.1, 1, 10, 25 °/s 0.1, 1, 50, 100 mm/s Step, Step size 0.1, 0.5, 1, 5 ° 0.1, 1, 10, 25 mm The choice is remembered separately for rotating and translating axes. The Time Override applies on top.","s":"Jogging","u":"/static/projects/voraus-robot-ui/1.2.0/user-guide/jogging","h":"","p":42},{"i":45,"t":"Limits below the tiles shows the active limits of Robot Control in every tile. The button stays on until you switch it off again, and the choice is kept per browser. Figure 3: Joint tiles with the robot limits shown Speed limit in the top right corner of a tile is the speed limit of the axis. Narrow tiles show only the number. The scale under the value runs from the minimum to the maximum position, the dot marks the current value. Within 5 % of a limit, the dot and that end turn orange, beyond it red. Joints show their position range and speed limit. X, Y and Z show the workspace cuboid and the translational TCP speed limit, RX, RY and RZ only the rotational one. Limits that are not configured are left out. Limit sets next to the button names the limit sets Robot Control is currently monitoring.","s":"Robot limits","u":"/static/projects/voraus-robot-ui/1.2.0/user-guide/jogging","h":"#robot-limits","p":42},{"i":47,"t":"Pose Management stores positions of the robot under a name and moves the robot back to them. A pose is either a joint pose, one value per joint, or a Cartesian pose, the position and orientation of the tool center point in the robot base frame. Poses are stored in the voraus parameter server, not in the browser, so every browser that opens voraus Robot UI works with the same list. Changes made in another browser appear after a reload. Figure 1: The pose Vertical selected in the list and previewed as a translucent robot","s":"Pose Management","u":"/static/projects/voraus-robot-ui/1.2.0/user-guide/pose-management","h":"","p":46},{"i":49,"t":"Click a row to select a pose, click it again to deselect it. The 3D visualization previews the selected pose: a joint pose as a translucent copy of the robot, a Cartesian pose as a coordinate frame. PTP or Linear selects the motion type. Hold to move to \"<name>\" moves the robot to the pose. If you release the button early, press it again to continue.","s":"Moving to a pose","u":"/static/projects/voraus-robot-ui/1.2.0/user-guide/pose-management","h":"#moving-to-a-pose","p":46},{"i":51,"t":"Add Pose opens the editor inside the widget. Jogging stays usable while it is open, so you can move the robot and pick up its position without leaving the editor. Figure 2: The editor for a new pose whose name is already taken Type a Pose name. Names are unique. Choose Joint or Cartesian. A new pose starts from the robot's current position in joint representation. Set the values. Use current pose copies the robot's live position into the fields. The up and down arrow keys nudge a field by one default step, 1° or 10 mm. Save. The pose appears in the list and is selected. Hold to move to defined pose moves the robot to the values in the fields before they are saved. Edit in a row opens the same editor with the stored values, Delete removes the pose after a confirmation. The name cannot be changed. To rename a pose, create it under the new name and delete the old one.","s":"Creating and editing a pose","u":"/static/projects/voraus-robot-ui/1.2.0/user-guide/pose-management","h":"#creating-and-editing-a-pose","p":46},{"i":53,"t":"The Joint and Cartesian toggle in the editor converts the values with the kinematics of Robot Control. Values you have already entered in the other representation are remembered, so toggling back and forth does not change them. Editing a field or Use current pose discards them. A conversion needs a valid number in every field. Some Cartesian poses have no joint solution. The editor then switches to joint representation with empty fields and shows the message from Robot Control. Toggle back to Cartesian to get your values back. Figure 3: A Cartesian pose that has no joint solution","s":"Switching between Joint and Cartesian","u":"/static/projects/voraus-robot-ui/1.2.0/user-guide/pose-management","h":"#switching-between-joint-and-cartesian","p":46},{"i":55,"t":"The status bar shows the state of Robot Control and adapts its controls to it: READY and ACTIVE: The drives are on. The motion controls of Jogging and Pose Management are enabled, the button reads Disable and switches the drives off. STANDBY: The drives are off. The button reads Enable and switches them on. ERROR: The status bar shows the error number and message, the button reads Reset and acknowledges the error. Click the message to read it in full when it is cut off. GRAVCOMP, STOPPING, RESET, COLLISIONREACTION, INIT and SHUTDOWN: The motion controls are disabled. Under the state, the status bar shows the name of the robot as configured in Robot Control. On the full-screen pages it stays visible when the status bar is collapsed. Figure 1: The dashboard while an error is pending Time Override sets the speed override of Robot Control in percent. The minus and plus buttons change it in steps of 10 percent. You can also type a value between 0 and 100 into the field and confirm it with Enter or by leaving the field. A value set by another client is shown here as well.","s":"Robot status and 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