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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 Visual Basic. This article is not intended to aid you with programming in Visual Basic nor how to use VB6.
Tools and Parts needed
- ORiN 2 SDK Install
- PC running Windows OS
NOTE: The following sample code is provided "AS IS" under the MIT License. Programming support service of Visual Basic is out of warranty. Please note that we do not provide any programming support service beyond basic setup and troubleshooting.
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 application||ORiN 2 - Operation check using CAOTester (CAO Engine)|
|Configuring the Project to Point to the ORiN Library (CAO 1.0)|
Reference Section 2.2 of the ORiN2 Programmers User Guide.
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
RC8 provider directory
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.
The sample program uses the automatically created workspace and reads/writes the variable IO150 (the 150th I/O variable). IP should be set to the value for the target controller. This sample program uses the following value. IP:192.168.0.1
For more information, reference Section 4.1 RC8 controller variable access.
Dim g_eng As CaoEngine Dim g_ctrl As CaoController Dim g_val As CaoVariable Private Sub Command1_Click() ' Read variable Text1.Text = g_val.Value End Sub Private Sub Command2_Click() ' Write variable g_val.Value = CBool(Text2.Text) End Sub Private Sub Form_Load() Set g_eng = New CaoEngine ' Connect RC: IP setting depends on your RC setting. Set g_ctrl = g_eng.Workspaces(0).AddController("RC8", "CaoProv.DENSO.RC8", "", "Server=192.168.0.1") ' Variable name "IO150" Set g_val = g_ctrl.AddVariable("IO150", "") End Sub Private Sub Form_Unload(Cancel As Integer) ' Delete variable object g_ctrl.Variables.Clear Set g_val = Nothing ' Delete controller object g_eng.Workspaces(0).Controllers.Remove g_ctrl.Index Set g_ctrl = Nothing ' Delete CaoEngine Set g_eng = Nothing End Sub
This sample code will start or stop a robot program (Pro1.pcs), also known as tasks.
- 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.
Dim g_eng As CaoEngine Dim g_ctrl As CaoController Dim g_task As CaoTask Private Sub Command1_Click() ' Start task g_task.Start 2 End Sub Private Sub Command2_Click() ' Stop task g_task.Stop 3 End Sub Private Sub Form_Load() Set g_eng = New CaoEngine ' Connect RC: IP setting depends on your RC setting. Set g_ctrl = g_eng.Workspaces(0).AddController("RC8", "caoProv.DENSO.RC8", "", "Server=192.168.0.1") ' Task name "PR01" Set g_task = g_ctrl.AddTask("PRO1", "") End Sub Private Sub Form_Unload(Cancel As Integer) g_ctrl.Tasks.Clear Set g_task = Nothing g_eng.Workspaces(0).Controllers.Remove g_ctrl.Index Set g_ctrl = Nothing Set g_eng = Nothing End Sub
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.
- 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.
Dim g_eng As CaoEngine Dim g_ctrl As CaoController Dim g_robot As CaoRobot Dim g_robotVar As CaoVariable Dim g_haltFlag As Boolean Private Sub Command1_Click() ' Start motor if arm is stationary If g_robotVar.Value = False Then g_robot.Execute "Motor", Array(1, 0) End If End Sub Private Sub Command2_Click() ' Stop motor if arm is stationary If g_robotVar.Value = False Then g_robot.Execute "Motor", Array(0, 0) End If End Sub Private Sub Command3_Click() ' Stop robot g_robot.Halt ' Record robot stop g_haltFlag = True End Sub Private Sub Command4_Click() ' Do not run new operation instruction if arm is running If g_robotVar.Value = True Then Exit Sub End If g_haltFlag = False ' Run robot g_robot.Move 1, "@P P10", "NEXT" ' Do not start next motion until previous motion is completed Do Until g_robotVar.Value = False DoEvents Loop ' Do not start next motion if robot has stopped If g_haltFlag = True Then Exit Sub End If ' Run robot g_robot.Move 1, "@P P11", "NEXT" End Sub Private Sub Form_Load() Set g_eng = New CaoEngine ' Connect RC: IP setting depends on your RC setting. Set g_ctrl = g_eng.Workspaces(0).AddController("RC8", "caoProv.DENSO.RC8", "", "Server=192.168.0.1") ' Create CaoRobot object Set g_robot = g_ctrl.AddRobot("Arm") ' Argument used to check arm running status Set g_robotVar = g_robot.AddVariable("@BUSY_STATUS") ' Get arm control authority g_robot.Execute "Takearm" ' Start motor Command1_Click End Sub Private Sub Form_Unload(Cancel As Integer) ' Stop motor Command2_Click ' Release arm control authority g_robot.Execute "Givearm" g_robot.Variables.Clear Set g_robotVar = Nothing g_ctrl.Robots.Clear Set g_robot = Nothing g_eng.Workspaces(0).Controllers.Remove g_ctrl.Index Set g_ctrl = Nothing Set g_eng = Nothing End Sub
You can find Visual Basic samples in your install of the ORiN 2 SDK. Here are some recommendations:
RC8 Provider Samples
|Sample Name||Directory Path|
|Robot (Simple) (VBA)||C:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples\Simple\Robot\VBA|
|Variable (Simple) (VB6)||C:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples\Simple\Variable\VB6|
NetwoRC Provider Samples
|Sample Name||Directory Path|