Difference between revisions of "CRI Ethernet Interface"
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[[File:CRI_Setup.PNG|CRI-Interface]] | [[File:CRI_Setup.PNG|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, ... | ||
Revision as of 09:00, 14 May 2018
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 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.
