Difference between revisions of "CRI Ethernet Interface"
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| − | The CRI interface allows remote applications to connect to a | + | The CRI ethernet interface allows remote applications to connect to a robot controller: iRC, CPRog or the embedded control. |
| − | [[File: | + | [[File:CRI-robolink.JPG|600px|CRI-Interface]] |
'''The remote application can request the following operations:''' | '''The remote application can request the following operations:''' | ||
* Jog the robot arm in joint space or cartesian space (base or tool coordinate system xyzabc) | * Jog the robot arm in joint space or cartesian space (base or tool coordinate system xyzabc) | ||
* Send commands: joint motion, linear motion, digital outputs, ... | * Send commands: joint motion, linear motion, digital outputs, ... | ||
| + | * Change variables | ||
* Start and stop programs. These can be stored programs or the commands just send. | * Start and stop programs. These can be stored programs or the commands just send. | ||
| − | + | ==Requirements== | |
| − | * CPRog version V902- | + | * Using this interface requires programming experience in the client-server area. |
| − | * | + | * iRC / CPRog version V902-11-011 or higher |
| − | * Example code | + | * Embedded Control with TinyCtrl version V980-11-087 or higher |
| + | * Updates can be found here: [[Software Updates]] | ||
| + | |||
| + | ==Documentation and Examples== | ||
| + | * Video with short explanation: [https://www.youtube.com/watch?v=cxzvMmma97Q YouTube Video] | ||
| + | * Documentation: | ||
| + | ** [[Media:CPR_RobotInterfaceCRI_V17.pdf|CRI V17 (since iRC/CPRog V14)]] | ||
| + | ** [[Media:CPR_RobotInterfaceCRI.pdf|CRI V16 (until iRC/CPRog V13)]] | ||
| + | ** [[CRI Client Structure]] - basic guide for any programming language | ||
| + | * Example code: | ||
| + | ** [https://github.com/CommonplaceRobotics/CRI-DemoClient CRI demo client] including source code in C# | ||
| + | ** [[:File:Python_Minimal_Example.zip|Minimal example in Python]] | ||
| + | |||
| + | ==CProg and iRC specific settings== | ||
| + | The new Version of CPRog and TinyCtrl (V902-11-007 and above) allows to configure the CRI interface in the backstage menu. | ||
| + | |||
| + | To open the menu click File -> Interface Configuration -> CRI Interface (Datei -> Schnittstellenkonfiguration -> CRI-Schnittstelle). | ||
| + | |||
| + | Click "Start" to enable the CRI server in CPRog/iRC. The status text will show the IP address and port that is being used. For local testing use the "Force IP address" checkbox and enter "127.0.0.1" into the text box. | ||
| + | |||
| + | [[File:CRI_Server_Config.PNG|600px]] | ||
| + | |||
| + | ==Further articles== | ||
| + | * [[Remote Variable Access|Accessing program variables via CRI]] | ||
| + | * [[Moving Robots via CRI]] | ||
| + | * [[CRI Client Structure]] | ||
| + | |||
| + | [[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]] | ||
Latest revision as of 14:28, 28 March 2024
The CRI ethernet interface allows remote applications to connect to a robot controller: iRC, CPRog or the embedded control.
The remote application can request the following operations:
- Jog the robot arm in joint space or cartesian space (base or tool coordinate system xyzabc)
- Send commands: joint motion, linear motion, digital outputs, ...
- Change variables
- Start and stop programs. These can be stored programs or the commands just send.
Requirements
- Using this interface requires programming experience in the client-server area.
- iRC / CPRog version V902-11-011 or higher
- Embedded Control with TinyCtrl version V980-11-087 or higher
- Updates can be found here: Software Updates
Documentation and Examples
- Video with short explanation: YouTube Video
- Documentation:
- CRI V17 (since iRC/CPRog V14)
- CRI V16 (until iRC/CPRog V13)
- CRI Client Structure - basic guide for any programming language
- Example code:
- CRI demo client including source code in C#
- Minimal example in Python
CProg and iRC specific settings
The new Version of CPRog and TinyCtrl (V902-11-007 and above) allows to configure the CRI interface in the backstage menu.
To open the menu click File -> Interface Configuration -> CRI Interface (Datei -> Schnittstellenkonfiguration -> CRI-Schnittstelle).
Click "Start" to enable the CRI server in CPRog/iRC. The status text will show the IP address and port that is being used. For local testing use the "Force IP address" checkbox and enter "127.0.0.1" into the text box.
