Tutorials

Contents:

• Overview of COBOTTA Control
  • Fundamentals of COBOTTA (DENSO WAVE)
    • ORiN2 is based on COM
    • Both ORiN2 and b-CAP use the RC8 provider
    • Basic structure of COBOTTA control in SUSANOO
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• Quick Start
  • Starting the server directly
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• Server-Class Installation
  • Required packages and repositories (software developed by the laboratory)
  • x_logger
  • ese774_frame
  • cobotta2
  • Starting the server directly from Python
    • Testing with a local client
    • Testing communication through FastAPI
  • Creating directories for server logs and services
  • Registering cobotta-server as a Windows service
  • Registering aandd-server as a Windows service
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• Client-Class Installation
  • Required packages and repositories (software developed by the laboratory)
  • Using client programs (accessing the COBOTTA server)
  • Displaying the current position (XYZ coordinates)
  • Basic motion using internal position variables
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• Config
  • Config (class mode)
  • Config (instance mode)
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• Starting the Control Server
  • Introduction
  • Preparing a Python program
  • Notes on file paths
  • Running as a Windows service
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• Overview of the COBOTTA Client Using Device Class and Device Proxy
  • Registering a DeviceClass with DeviceProxy
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• Basic Control
  • Prerequisites
  • Basic control through the COBOTTA server
  • Loading YAML configuration
  • Configuration for starting the control server
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• Camera
  • Basic usage from Python
  • Camera calibration
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• COBOTTA Internal Variables
  • Managing COBOTTA internal variables
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• Variable Manager
  • Managing COBOTTA internal variables with a manager
  • COBOTTA Variable Manager
  • Using the coordinate manager without attaching to a COBOTTA instance
    • Saving internal variable values to a file
    • Loading values from a file into internal variables
    • Reading COBOTTA values into the variable manager
    • Writing internal variable values to COBOTTA
  • Controlling COBOTTA with CobottaCtrl alone
    • Using the coordinate manager without attaching to a COBOTTA instance
    • Saving internal variable values to a file
    • Loading values from a file into internal variables
    • Reading COBOTTA values into the variable manager
    • Writing internal variable values to COBOTTA
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• Controlling PacScript
  • Running a script stored on COBOTTA
  • Uploading a script to COBOTTA
  • Listing scripts stored on COBOTTA
  • Downloading a script from COBOTTA
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• Local Control
  • Controlling COBOTTA directly with CobottaCtrl
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This section introduces the use of cobotta2 step by step. Basic knowledge of six-axis robot-arm control is assumed.

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Author

• Kengo NAKADA