ORiN 2 - Programming in VB .NET (bCAP Packets)

Modified on Wed, 16 Oct at 7:06 PM

Please read our Legal Disclaimer before executing any steps on this article.

Overview

b-CAP is a communication protocol to access CAO provider and improve the transmission rate. b-CAP has the same service structure as the object of CAO provider. b-CAP is mounted as TCP stream communication. Since b-CAP packet does not contain check code, and error-free protocol is required at the lower-layer protocol.

This article is meant to help to gather information on resources that can help you get started with interfacing with the library to build b-CAP packets in VB .NET (b-CAPClient). This article is not intended to aid you with programming in VB .NET nor how to use Visual Studio IDE.

Tools and Parts needed

NOTE:
The following sample code is provided "AS IS" under the MIT License. Programming support service of VB .NET is out of warranty. Please note that we do not provide any programming support service beyond basic setup and troubleshooting.

Previous Steps...

Please make sure that you have reviewed the ORiN2 - Overview article and that your RC controller is properly setup. You can use the CAOTester to make sure that your PC is ready to communicate with the controller.

Set up your controller to accept messages from your PC.

ORiN 2 - Robot Controller Setup (RC8 / RC8A / COBOTTA)

Test communication using b-CAP Tester application (Windows OS only)

RC7 b-CAP Tester
C:\ORiN2\CAP\b-CAP\CapLib\DENSO\RC7\Bin\b-CAP Tester.exe

RC8 (VRC) b-CAP Tester
C:\ORiN2\CAP\b-CAP\CapLib\DENSO\RC8\Bin\b-CAP Tester_RC8.exe

Configuring the Project to Point to the b-CAP Library (b-CAPClient)

ORiN 2 - Adding bCAPClient Reference to Visual Studio Project

Programming References

At this point, you should be ready to begin programming your application to interface with your robot controller. When connecting to the controller, you will need to specify the ORiN provider you are trying to use to establish communication. The provider differs based on the robot controller you are using. RC5, RC7, and RC7M controllers use the NetwoRC provider. RC8, RC8A, and COBOTTA controllers us the RC8 provider.

NetwoRC provider directory

C:\ORiN2\CAO\ProviderLib\DENSO\NetwoRC

RC8 provider directory

C:\ORiN2\CAO\ProviderLib\DENSO\RC8

NOTE:
Please consult the Owner's manual for information on how to program your DENSO Robot or details on specific robot commands.

Owner's Manual Reference

https://www.fa-manuals.denso-wave.com/en/usermanuals/001102/