Master-Control Communication Setup (DOBOT CRA)
This document describes how to set up Master-Control communication between {company} Vision System and a DOBOT CRA Series robot.
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The operations described in this document have only been tested in a virtual simulator and have not yet been tested on a real robot. |
Preparations
Check Controller and Software Versions
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Controller version: 4.5.1.
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DobotStudio Pro version: 4.5.
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After you connect the controller in DobotStudio Pro, you can view the software and controller version information in the lower-right corner of the software interface. |
Set up the Network Connection
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Plug one end of the Ethernet cable into the network port of the IPC and the other end into the LAN port on the back of the robot controller. In the following figure, ⑤ indicates the LAN port.
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Set the IP address of the IPC and the IP address of the robot.
| To allow communication between the IPC and the robot controller, the IP addresses of the IPC and robot controller must reside in the same subnet. This means that the network portions and subnet masks of the IP addresses should be the same. For example, 192.168.100.169/255.255.255.0 and 192.168.100.170/255.255.255.0 are in the same subnet. |
Switch to TCP Mode
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In DobotStudio Pro, perform the following operations to search for and connect the controller.
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After the controller is connected, click the option next to Device mode (such as Online as shown in the following figure). In the pop-up dialog box, select TCP and click Confirm.
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Confirm that TCP/IP Secondary development is displayed next to Device mode.
Test Master-Control Communication
Create a Mech-Viz Project
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Open Mech-Viz, press Ctrl+N on the keyboard to create a new project. Select the robot model corresponding to your real robot brand and model on the interface as shown below.
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Press Ctrl+S and create or select a folder to save the project.
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Right-click the project name in the left panel in Mech-Viz and select Autoload Project.
Connect to the Robot
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Click Master-Control Robot on the toolbar of Mech-Viz.
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Input the IP address of the real robot in Robot IP address (the IP address in the picture is only an example). Click Connect the robot.
If Mech-Viz successfully connects the real robot, the current status will change to Connected. Meanwhile, the icon in the toolbar will turn from blue to green.
If the connection fails, please double-check the robot IP address.
Move the Robot
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In the toolbar of Mech-Viz, change the “Vel.” (velocity) and “Acc.” (acceleration) parameters to 5%.
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Click Sync Robot in the toolbar, and you can synchronize the poses of the simulated robot in the 3D simulation space with the poses of the real robot. Then click Sync Robot again to unselect it.
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In the Robot tab, slightly adjust the value of “J1”, for example, from 0˚ to 3˚. This operation will move the simulated robot.
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Click Move real robot and check if the real robot has moved. If the real robot has reached the JPs set for the simulated robot, the master-control communication is working.
When moving the robot, please ensure the safety of personnel. In the case of an emergency, press the emergency stop button on the teach pendant! 