**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.
Before jumping straight to building your application we recommend you test your setup by using the CAOTester tool which comes with the ORiN2 SDK installation.
Tools and Parts needed
- RC8 Provider User’s Guide
This example is to communicate your PC to a RC8 controller.
Connecting to the controller
Open CAO Tester
Select [Workspace] window and set parameters in [Add Controller]
You will need to set the parameters to connect to the controller. Here is an example:
- Controller Name: RC8
- Provider Name: CaoProv.DENSO.RC8
- Machine Name: <Blank>
- Option: Server=192.168.0.1 *Substitute with target controller IP
Press the [Add] button in the [Workspace] window to display the [CAOController] window.
Check Object and Log windows
If communication was established correctly you will get a “Succeeded” message on the log window. You should also see the Controller object showing under the Object window.
Reading a global variable
Get variable handler
In the controller window, select a variable tab and create a variable window for I1 (Global Variable Integer 1).
In the [AddVariable] section press the Add button. If the operation is successful you should see the variable window Variable – I1.
Read / Write Variable
Press the [Get] button to read the I1 variable. Press the [Put] buttons to write the I1 variables.
Turning motor ON
Select the [Controller] window of CaoTester.
Select [Robot] tab and input the following under the RobotNames:
Press the [Add..] button.
Add the @SERVO_ON variable handler
Under the Robot window add the variable handler by inputting the following information on the “AddVariable” section:
Press the [Add…] button
Read / Write @SERVO_ON variable
Under the Variable – @SERVO_ON window press the [Get] button to get status of the Motor state. Press the [Put] button to Turn ON (1) or OFF (0) motor power.
- ORiN2 – Overview.
- CaoTester User’s Guide (C:\ORiN2\CAO\Tools\CaoTester\Doc\CaoTester_UsersGuide_en.pdf)
- RC8 (VRC) Code Samples (C:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples)