CRI Ethernet Interface

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
• 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.

Further articles

• Accessing program variables via CRI
• Moving Robots via CRI
• CRI Client Structure