*Attention** : Read this resource material carefully and in its entirety before use, to ensure it is understood and used properly.  Failure to properly follow the instructions in the resource materials DPAM provides may result in damage to your equipment.  As a result, by using the resource materials, you are assuming the risks associated with modifying your equipment. DENSO holds no liability, implied or otherwise, for damage, injury or any legal responsibility incurred, directly or indirectly from the use of the resource materials, including any loss of data or damage to property which may occur by your use of the resource materials. The use of the resource materials are not recommended unless you have technical knowledge and functional experience with the equipment and related software. DENSO is unable to provide support, remote or otherwise, for the information included in the resource material, nor for the ancillary topics relating to the information included in the resource materials. Therefore, if you are not fully comfortable with it, we strongly recommend that you send your unit to one of our Regional Support Centers for repair.  The information contained in the resource materials are subject to change at the sole discretion of DPAM. 


Overview

In ORiN2 SDK, DCOM (Distributed Component Object Model) of Microsoft Corporation is adopted as a distributed object technology. The DCOM based CAO can be used from various program languages such as C++, JAVA, and Visual Basic.

This article is meant to help to gather information on resources that can help you get started with interfacing with the CAO Engine in C# (Visual Studio IDE). This article is not intended to aid you with programming in C# nor how to use Visual Studio IDE. 


Tools and Parts needed


NOTE:
The following sample code is provided "AS IS" under the MIT License. Programming support service of C# is out of warranty. Please note that we do not provide any programming support service beyond basic setup and troubleshooting. 


Video Tutorial

Previous Steps...

Please make sure that you have reviewed the ORiN2 - Overview article and that your RC controller is properly setup. You can use the CAOTester to make sure that your PC is ready to communicate with the controller. 


Set up your controller to accept messages from your PC.ORiN 2 - Robot Controller Setup (RC8 / RC8A / COBOTTA)
Test communication using CAO Tester applicationORiN 2 - Operation check using CAOTester (CAO Engine)
Configuring the Project to Point to the ORiN Library (CaoRCW)


Programming References

At this point, you should be ready to begin programming your application to interface with your robot controller. When connecting to the controller, you will need to specify the ORiN provider you are trying to use to establish communication. The provider differs based on the robot controller you are using. RC5, RC7, and RC7M controllers use the NetwoRC provider. RC8, RC8A, and COBOTTA controllers us the RC8 provider.

NetwoRC provider directory

C:\ORiN2\CAO\ProviderLib\DENSO\NetwoRC


RC8 provider directory

C:\ORiN2\CAO\ProviderLib\DENSO\RC8


NOTE:
Please consult the Owner's manual for information on how to program your DENSO Robot or details on specific robot commands. 


Programming using the Provider

The following samples are for performing various basic but essential operations. The samples are for connecting using the RC8 Provider.

For more information you can reference Section 4 RC8 Programming Using the Provider from the RC8 Provider User's Guide PDF document

 

RC8 Provider User Guide Samples in C#

This document intends to give you a better experience when trying to implement a command in the provider. We have "translated" the original VB6 samples in Section 5.0 from the RC8 provider guide into C# language. Click here to download a copy.


Variable Sample

This sample code will read or write to the string global variable "S15" on the robot controller.

For more information, reference Section 4.1 RC8 controller variable access.


using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using ORiN2.interop.CAO;

namespace RC8_with_ORiN_VS2010
{
    public partial class Variable : Form
    {
        private CaoEngine g_eng;        //CaoEngine object variable
        private CaoController g_ctrl;   //CaoController object variable
        private CaoVariable g_val;      //CaoVariable object variable
            
        public Variable()
        {
            InitializeComponent();
        }

        private void Command1_Click(object sender, EventArgs e)
        {
            Text1.Text = Convert.ToString(g_val.Value);    //Read Variable
        }

        private void Command2_Click(object sender, EventArgs e)
        {
            g_val.Value = Convert.ToString(Text2.Text);
        }

        private void Variable_Load(object sender, EventArgs e)
        {
            g_eng = new CaoEngine();    //CaoEngine object creation

            //Connect RC: IP setting depends on your RC setting.
            g_ctrl = g_eng.Workspaces.Item(0).AddController("RC8", "CaoProv.DENSO.RC8", "", "Server=192.168.0.1");

            //Variable name "S15"
            g_val = g_ctrl.AddVariable("S15", "");
        }

        private void Variable_FormClosed(object sender, FormClosedEventArgs e)
        {
            //Delete variable object
            g_ctrl.Variables.Clear();
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_val);
            g_val = null;

            //Delete controller object
            g_eng.Workspaces.Item(0).Controllers.Remove(g_ctrl.Index);
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_ctrl);
            g_ctrl = null;

            //Delete engine object
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_eng);
            g_eng = null;
        }
    }
}


Task Sample

This sample code will start or stop a robot program (Pro1.pcs), also known as tasks.

Prerequisites: 

  • Controller must have a program named Pro1.pcs 
  • Controller must be set to Auto mode

For more information, reference Section 4.2 Task controller with RC8 controller.



using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using ORiN2.interop.CAO;

namespace RC8_with_ORiN_VS2010
{
    public partial class Task : Form
    {
        private CaoEngine g_eng;        //CaoEngine object variable
        private CaoController g_ctrl;   //CaoController object variable
        private CaoTask g_task;         //CaoTask object variable
        private CaoTask g_task2;

        public Task()
        {
            InitializeComponent();
        }

        private void Command1_Click(object sender, EventArgs e)
        {
            g_task.Start(1, "");    //Start Task
        }

        private void Command2_Click(object sender, EventArgs e)
        {
            g_task.Stop(4, "");     //Stop Task
        }

        private void Task_Load(object sender, EventArgs e)
        {
            g_eng = new CaoEngine(); //CaoEngine object creation

            //Connect RC: IP setting depends on your RC setting.
            g_ctrl = g_eng.Workspaces.Item(0).AddController("RC8", "CaoProv.DENSO.RC8", "", "Server=192.168.0.1");
            
            g_task = g_ctrl.AddTask("PRO1", ""); //Task name PRO1
            g_task2 = g_ctrl.AddTask("Test1", "");
        }

        private void Task_FormClosed(object sender, FormClosedEventArgs e)
        {
            //Delete task object
            g_ctrl.Tasks.Clear();
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_task);
            g_task = null;

            //Delete controller object
            g_eng.Workspaces.Item(0).Controllers.Remove(g_ctrl.Index);
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_ctrl);
            g_ctrl = null;

            //Delete engine object
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_eng);
            g_eng = null;
        }
    }
}


Robot Motion Sample

This sample code will turn the motor ON or OFF. When the Start Robot button is pressed, the robot will Move to position P10 and then to position P11.

Prerequisites: 

  • Global variables P10 and P11 must have valid coordinate data
  • Robot state must be set to Auto mode

For more information, reference Section 4.3 Robot control with RC8 controller.



using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using ORiN2.interop.CAO;

namespace RC8_with_ORiN_VS2010
{
    public partial class Robot : Form
    {
        private CaoEngine g_eng;        //CaoEngine object variable
        private CaoController g_ctrl;   //CaoController object variable
        private CaoRobot g_robot;       //CaoRobot object variable
        private CaoVariable g_robotVar;  //CaoVariable from CaoRobot object
        private bool g_haltFlag;

        public Robot()
        {
            InitializeComponent();
        }

        private void Command1_Click(object sender, EventArgs e)
        {
            if (g_robotVar.Value == false)    //Start motor if arm is stationary
                g_robot.Execute("Motor", new object[] { 1, 0 }); //Start Motor
        }

        private void Command2_Click(object sender, EventArgs e)
        {
            if (g_robotVar.Value == false)   //Stop motor if arm is stationary
                g_robot.Execute("Motor", new object[] { 0, 0 });
        }

        private void Command3_Click(object sender, EventArgs e)
        {
            g_robot.Halt("");    //Stop Robot
            g_haltFlag = true;  //Record robot stop
        }

        private void Command4_Click(object sender, EventArgs e)
        {
            if (g_robotVar.Value == true)
                return;

            g_haltFlag = false;
            g_robot.Move(1, "@P P10", "NEXT");  //Run Robot

            //Do not start next motion until previous motion is completed
            do {
                Application.DoEvents();
            } while (g_robotVar.Value == false);

            //Do not start next motion if robot has stopped 
            if (g_haltFlag == true)
                return;

            //Run Robot
            g_robot.Move(1, "@P P11", "NEXT");
        }

        private void Robot_Load(object sender, EventArgs e)
        {
            g_eng = new CaoEngine(); //CaoEngine object creation

            //Connect RC: IP setting depends on your RC setting.
            g_ctrl = g_eng.Workspaces.Item(0).AddController("RC8", "CaoProv.DENSO.RC8", "", "Server=192.168.0.1");

            //Create CaoRobot object
            g_robot = g_ctrl.AddRobot("Arm");
            
            //Argument used to check arm running status
            g_robotVar = g_robot.AddVariable("@BUSY_STATUS");

            g_robot.Execute("Takearm"); //Get arm control authority

            //Start Motor
            Command1_Click(sender,e);
        }

        private void Robot_FormClosed(object sender, FormClosedEventArgs e)
        {
            //Stop Motor
            Command2_Click(sender, e);

            //Release arm control authority
            g_robot.Execute("Givearm"); //Release arm control authority

            //Delete robot variable object
            g_robot.Variables.Clear();
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_robotVar);
            g_robotVar = null;

            //Delete robot arm object
            g_ctrl.Robots.Clear();
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_robot);
            g_robot = null;

            //Delete controller object
            g_eng.Workspaces.Item(0).Controllers.Remove(g_ctrl.Index);
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_ctrl);
            g_ctrl = null;

            //Delete engine object
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_eng);
            g_eng = null; 
        }
    }
}


More samples...

You can find C# samples in your install of the ORiN 2 SDK. Here are some recommendations:


RC8 Provider Samples

Sample NameDirectory Path
Joystick SampleC:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples\Joystick\C#
RobotC:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples\Robot\C#
Robot (Simple)C:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples\Simple\Robot\C#
Task (Simple)C:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples\Simple\Task\C#
Variable (Simple)C:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples\Simple\Variable\C#
TaskC:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples\Task\C#


NetwoRC Provider Samples

Sample NameDirectory Path
TaskC:\ORiN2\CAO\ProviderLib\DENSO\NetwoRC\Samples\Task\C#

Owner's Manual Reference