ORiN 2 - Operation check using CAOTester (CAO Engine)

Modified on Fri, 11 Jun 2021 at 03:40 PM

**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 

C:\ORiN2\CAO\Tools\CaoTester\Bin\Cao Tester.exe

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= *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).

Name: I1
Option: <Blank>

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:

Name: Arm0
Option: <Blank>

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:

Option: <Blank>

Press the [Add...] button

Read / Write @SERVO_ON variable

Under the Variable - @SERVO_ON window, press the [Get] button to get the status of the Motor state. Press the [Put] button to Turn ON (1) or OFF (0) motor power.

Next Steps: 

  • 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)

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