CRI Ethernet Interface

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Revision as of 08:59, 14 May 2018 by Peter (talk | contribs)

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 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.
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