Difference between revisions of "CRI Ethernet Interface"
From Wiki
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* 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. | + | * 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. | ||
| + | <!-- | ||
| + | ==Getting started== | ||
| + | IP addresses are: | ||
| + | *Local host: 127.0.0.1 | ||
| + | *TinyCtrl on Phytec board: 192.168.3.11, login as root without password | ||
| + | --> | ||
| + | |||
[[Category:Downloads]] | [[Category:Downloads]] | ||
Revision as of 08:57, 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: 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.
