Doosan Connectivity Plugin

Contents HideContents Show
  1. Installation
  2. Requirements
  3. Supported variables for pairing
  4. Virtual Controller
  5. Setup Server
  6. Control Authority
  7. Manuals

Installation

Visual Components installer contains all required components:

  • Visual C++ 2010 redistributable package x64.
  • Doosan Robotics API DLLs.

Requirements

Option 1 - connect to real controller: Visual Components Premium 4.9 Premium and Doosan robot.

Option 2 - connect to virtual controller: Visual Components Premium 4.9 Premium and DART Studio or DART Simulator.

Supported variables for pairing

The plugin supports the following read and write operations with the connected controller:

  • Read joint values
  • Read digital inputs
  • Read and write digital outputs
  • Read analog inputs
  • Write analog outputs
  • Read tool analog inputs
  • Read tool digital inputs
  • Read and write tool digital inputs

Virtual Controller

Virtual controller is included in Doosan DART Simulator and in DART Studio.

Virtual controller simulator can be run from inside DART Studio or separately as

C:\Program Files\Doosan Robotics\DART-Studio\Util\WinDRCF\DRCFWin32.exe

Setup Server

Set Doosan Robotics controller IP address in the server setting panel.

Control Authority

On writing operations, access control is requested. Then, in another client program that currently has control authority, a query window pops up.

If you want to yield the authority, click the OK button and the authority is given to the requesting client.

Manuals

Link to manuals:

https://robotlab.doosanrobotics.com/en/Index

Note that registration is required.