Denso RC8 Python API

Author: Jacob Taylor Cassady (jtcass01@louisville.edu) - Undergraduate Research Assistant

University of Louisville J.B. Speed School of Engineering

Next Generation Systems Robotics Lab

1 : Description

Python API for Denso RC8 with a RC8-native server written in PacScript. NGS is interested in removing Labview from the control loop and interfacing with the RC8 directly to ensure well defined instruction sets.

2 : 3rd Part Dependencies

2.1 Operating System

• Ubuntu 18 Linux Operating System

2.2 Frameworks

• Robotic Operating System (melodic distribution)

2.3 Python Modules

• Python 3.4 enum module backported for use in Python 2.7
• fake-useragent for emulating web browser
• requests for communicating with Ethernet IP

3 : Usage

3.1 : Starting the PacScript RC8 Server

• Turn on the RC8 Controller.

• On the RC8 controller, under settings, set the robot's executable token to TP and the robot's control mode to 'Auto'.

• Start the program named 'common.pcs'.

• Turn the motor of the robot on.

3.2 : Starting the ROS Server Components

3.2.1 : Initializing the environment

• Open a new commandline

• Navigate to directory: denso_rc8_api/src/ngs_ros/

• Delete the directories 'build' and 'devel'. (Only required the first time)

• Run the following commands:

	source /opt/ros/[YOUR_ROS_DISTRO]/setup.bash
	catkin_make
	source ./devel/setup.bash
	roscore

3.2.2 : Starting the NGS RC8 API Server Node

This server parses and forwards commands to the RC8 PacScript Server.

• Open a new commandline

• Navigate to directory: denso_rc8_api/src/ngs_ros/

• Run the following commands:

	source ./devel/setup.bash
	rosrun ngs_denso_rc8_api rc8_api_server.py

3.2.3 : (Optional) Starting a communication channel with the NGS RC8 API Node

• Open a new commandline

• Navigate to directory: denso_rc8_api/src/ngs_ros/

• Run the following commands:

	source ./devel/setup.bash
	rosrun ngs_denso_rc8_api api_communication_channel.py

3.2.4 : (Optional) Starting a robot state machine to interfaces with the NGS RC8 API Server Node

• Open a new commandline

• Navigate to directory: denso_rc8_api/src/ngs_ros/

• Run the following commands:

	source ./devel/setup.bash
	rosrun ngs_denso_rc8_api robot.py

3.2.5 : (Optional) Starting a controller to send commands to a robot state machine.

• Open a new commandline

• Navigate to directory: denso_rc8_api/src/ngs_ros/

• Run the following commands:

	source ./devel/setup.bash
	rosrun ngs_denso_rc8_api controller.py

3.3 : API Functionality

3.3.1 : Implemented Commands

3.3.1.1 : Move Command

To move the robot to the designated coordinates.

3.3.1.1.1 : Supported DataTypes

• Position
• Joint

3.3.1.1.2 : Supported Interpolation Methods

• Point to Point
• Linear

3.3.1.1.3 : Command Examples

Syntax: Move motion interpolation,target position

• Position Example

Move L, P( 600, 50, 400, 180, 0, 180, -1 )

• Joint Example

Move P, J(10, 20, 30, 40, 50, 60, 70, 80)

3.3.1.2 : Draw Command

To move from the current position to a relative position.

3.3.1.2.1 : Supported DataTypes

• Vector

3.3.1.2.2 : Supported Interpolation Methods

• Point to Point
• Linear

3.3.1.2.3 : Command Examples

Syntax: Move motion interpolation,target position

• Example

Draw L, V( 50, 10, 50 )

4 : References

• Denso Robotics RC8 Programmer's Manual