CRI Ethernet Interface
From Wiki
The CRI interface allows remote applications to connect to a CPR robot controller (CPRog or TinyCtrl).
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, ...
- Start and stop programs. These can be stored programs or the commands just send.
Requirements
- CPRog version V902-08-013 or higher (Updates can be found here: CPRog Updates) or a TinyCtrl embedded robot controller
Documentation and Example
- Documentation: CRI Interface Documentation
- Example code CRI client: C# source code in Visual Studio Express 2012 and the 2015 Visual Studio Community Edition. Other versions untested. The code shows how to connect, how to send the control commands and how to parse the robots answers. For a stable operation of course more means regarding e.g. fault detection and error recovery have to be taken. Do read the Documentation in the link above.
