Dobot CR5 - TCP

DOBOT CR5 User Guide 6 Program Language
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
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Description
Get the current pose of the robot under the Joint coordinate system
Parameter
None
Return
Joint coordinate of the current pose
Example
local armPose
local joint = GetAngle()
--Get the current pose
local liftPose = {armOrientation = armPose , joint = {joint.joint[1], joint.joint[2], joint.joint[3],
joint.joint[4]}, tool = 0, user = 0}
TCP
Table 6.45 Create TCP command
Function
err, socket = TCPCreate(isServer, IP, port)
Description
Create a TCP network
Only support a single connection
Parameter
isServer: Whether to create a server. 0: Create a client; 1: Create a server
IP: IP address of the server, which is in the same network segment of the client without conflict
port: Server port
When the robot is set as a server, port cannot be set to 502 and 8080. Otherwise, it will be in
conflict with the Modbus default port or the port used in the conveyor tracking application,
causing the creation to fail
Return
err:
0: TCP network is created successfully
1: TCP network is created failed
Socket: Socket object
Example
Please refer to Program 6.1 and Program 6.2
Table 6.46 TCP connection command
Function
TCPStart(socket, timeout)
Description
Connect a client to a server with the TCP protocol
Parameter
socket: Socket object
timeout: Wait timeout. Unit: s. If timeout is 0, the connection is still waiting. If not, after
exceeding the timeout, the connection is exited.