Difference between revisions of "CRI Ethernet Interface"

From Wiki
Line 11: Line 11:
 
* CPRog version V902-08-013 or higher (Updates can be found here: [[CPRog Updates]]) or a TinyCtrl embedded robot controller
 
* CPRog version V902-08-013 or higher (Updates can be found here: [[CPRog Updates]]) or a TinyCtrl embedded robot controller
 
* Documentation: [http://www.cpr-robots.com/download/CRI/CPR_RobotInterfaceCRI.pdf CRI Interface Documentation]  
 
* Documentation: [http://www.cpr-robots.com/download/CRI/CPR_RobotInterfaceCRI.pdf CRI Interface Documentation]  
* Example code CRI client: [http://www.cpr-robots.com/download/CRI/CRI_Client.zip C# source code] in Visual Studio Express 2012 environment. The code shows how to connect, how to send the control commands  
+
* Example code CRI client: [http://www.cpr-robots.com/download/CRI/CRI_Client.zip C# source code] in Visual Studio Express 2012 environment. 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.  
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.  
 
 
<!--
 
<!--
 
==Getting started==
 
==Getting started==

Revision as of 08:57, 14 May 2018

The CRI interface allows remote applications to connect to a CPR robot controller (CPRog or TinyCtrl).

CRI-Interface

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: CRI Interface Documentation
  • Example code CRI client: C# source code in Visual Studio Express 2012 environment. 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.