Difference between revisions of "CRI Ethernet Interface"
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** [[Media:CPR_RobotInterfaceCRI.pdf|CRI V16 (until iRC/CPRog V13)]] | ** [[Media:CPR_RobotInterfaceCRI.pdf|CRI V16 (until iRC/CPRog V13)]] | ||
** [[CRI Client Structure]] - basic guide for any programming language | ** [[CRI Client Structure]] - basic guide for any programming language | ||
| + | ** [[Transferring Robot Programs via CRI]] - advanced guide on how to send program files to the robot | ||
* Example code: | * Example code: | ||
** [https://github.com/CommonplaceRobotics/CRI-DemoClient CRI demo client] including source code in C# | ** [https://github.com/CommonplaceRobotics/CRI-DemoClient CRI demo client] including source code in C# | ||
Revision as of 13:14, 21 June 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
- Transferring Robot Programs via CRI - advanced guide on how to send program files to the robot
- 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.
