Difference between revisions of "CRI Ethernet Interface"
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* Updates can be found here: [[Software Updates]] | * Updates can be found here: [[Software Updates]] | ||
| − | ==Documentation and | + | ==Documentation and Examples== |
* Video with short explanation: [https://www.youtube.com/watch?v=cxzvMmma97Q YouTube Video] | * Video with short explanation: [https://www.youtube.com/watch?v=cxzvMmma97Q YouTube Video] | ||
| − | * Documentation: [ | + | * Documentation: |
| − | * Example code | + | ** [[Media:CPR_RobotInterfaceCRI_V17.pdf|CRI V17 (since iRC/CPRog V14)]] |
| − | + | ** [[Media:CPR_RobotInterfaceCRI.pdf|CRI V16 (until iRC/CPRog V13)]] | |
| + | ** [[CRI Client Structure]] - basic guide for any programming language | ||
| + | * Example code: | ||
| + | ** [https://github.com/CommonplaceRobotics/CRI-DemoClient CRI demo client] including source code in C# | ||
| + | ** [[:File:Python_Minimal_Example.zip|Minimal example in Python]] | ||
==CProg and iRC specific settings== | ==CProg and iRC specific settings== | ||
| − | The new Version of CPRog and TinyCtrl (V902-11-007 and above) | + | 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. | ||
| + | |||
| + | [[File:CRI_Server_Config.PNG|600px]] | ||
==Further articles== | ==Further articles== | ||
* [[Remote Variable Access|Accessing program variables via CRI]] | * [[Remote Variable Access|Accessing program variables via CRI]] | ||
* [[Moving Robots via CRI]] | * [[Moving Robots via CRI]] | ||
| + | * [[CRI Client Structure]] | ||
| − | [[Category:Downloads]] | + | [[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]] |
Latest revision as of 14:28, 28 March 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
- 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.
