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TABLE OF CONTENTS

• Introduction
  • How DENSO Robotics uses ORiN2?
  • Which Robot controllers are compatible with ORiN2?
• How to get started communicating with your equipment
  • Setting up your robot controller
    • RC5, RC7, RC7M
    • RC8, RC8A, COBOTTA
  • Setting up your PC
    • CAO Engine
    • b-CAP Packet
• Developing applications using CAO Engine / b-CAP Packet
  • CAO Engine
    • Getting Started Guides
    • Other Samples
  • b-CAP Packet Libraries
    • Getting Started Guides
    • Other Samples
• Using ORiN / b-CAP in special development platforms
  • LabVIEW
    • DENSO Robot Library - DPAM
    • Robotics Library for DENSO - DigiMetrix GmbH
  • Robot Operating System (ROS)
• Additional Resources

Introduction

The Open Resource Interface for the Network (ORiN) forum has attempted to help automation equipment builders and users to reduce the time spent in integrating multiple devices in one application.

ORiN is independent of any programming language, independent of communication protocol, and you have complete network transparency. The ORiN architecture has three different layers.

The first layer is the Application layer, where software developers can create applications without depending on any of the devices or programming language. The second layer is the Engine layer of ORiN, which is exactly the middle-ware between software and devices. The third layer is the Provider layer (providers are similar to a Driver), which is the interface for the devices.

The ORiN forum has developed multiple providers over the years for Robots, PLCs, Cameras, Scanners, and many other types of devices. 

How DENSO Robotics uses ORiN2?

DENSO has been a pioneer in supporting the ORiN forum with achieving their goals. In 2005 DENSO released a software development kit (SDK) for ORiN version 2. DENSO Robotics hardware and hardware is closely tight with ORiN standards for communicating with our hardware (robots, scanners, other). Users looking to communicate to our equipment with their Industrial PC could also benefit by using the ORiN middle-ware.

Which Robot controllers are compatible with ORiN2?

Users have had the option to interface with our robot controllers via ORiN2 since our 5^th generation of robot controllers (RC5). Each robot generation has made communication with ORiN easier, with the latest generation being the RC8 comes with integrated ORiN middle-ware.

How to get started communicating with your equipment

The best way to obtain the latest documentation regarding the ORiN and how to communicate with your DENSO robot equipment is to download the latest version of the ORiN SDK. The following sections would reference documents that you would find on your system after you install the SDK.

Setting up your robot controller

Setting up your PC

Windows users have the option to use the Control Access Object (CAO) engine provided in the SDK. If transmission speed or your application is handling motion trajectory then you will need to bypass the engine and send direct messages with b-CAP Packets. Currently, Linux users only have the option of using b-CAP Packets to communicate to the robot controller.  CAO Engine In ORiN2 SDK, DCOM (Distributed Component Object Model) of Microsoft Corporation is adopted as a distributed object technology. The DCOM based CAO can be used from various program languages such as C++, JAVA, and Visual Basic.   Reference: C:\ORiN2\CAO\Doc\ORiN2_Programmers_Guide_en.pdf b-CAP Packet 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.  Reference: C:\ORiN2\CAP\b-CAP\Doc\b-CAP_Spec_en.pdf

Developing applications using CAO Engine / b-CAP Packet

DENSO Robotics along with the ORiN forum have made an effort to provide examples and documentation on how to communicate with your programming language of choice with either the CAO Engine or to build b-CAP packets. 

CAO Engine

b-CAP Packet Libraries

Before jumping straight to building your application we recommend you test your setup by using the b-CAPTester tool which comes with the ORiN2 SDK installation. 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
Getting Started Guides C# C/C++ Python 3	Other Samples VB .NET JAVA

Using ORiN / b-CAP in special development platforms

LabVIEW

Laboratory Virtual Instrument Engineering Workbench (LabVIEW) is a system-design platform and development environment for a visual programming language from National Instruments. It is possible to easily communicate with our DENSO robots via LabVIEW with the following options:

DENSO Robot Library - DPAM This library was created and supported by DENSO Robotics USA ant its built on top of DNWA b-CAP library packet VIs that allow you to use it in most of the environments where LabVIEW can be use. This library is currently available for the RC8, RC8A, and COBOTTA controllers. It is under constant development to include more commands from the PACScript language. Go to product page

Robotics Library for DENSO - DigiMetrix GmbH This add-on library was originally made for the RC7 controller. On 2013, it was updated and made compatible with the RC8. Support for this library is provided by DigiMetrix GmbH (formerly ImaginLabs). Go to product page

Robot Operating System (ROS)

Robot Operating System (ROS or ros) is robotics middle-ware (i.e. collection of software frameworks for robot software development). DENSO Wave has built ROS nodes for the RC8, RC8A and COBOTTA. Go to product page In addition, it is possible to use COBOTTA under the Linux + ROS architecture (COBOTTA OSS Type). You can get more information on the owner's manual (https://www.fa-manuals.denso-wave.com/en/COBOTTA/004001/#ID004001_OSSType)

Additional Resources

• https://www.orin.jp/e/
• https://www.denso-wave.com/en/robot/product/software/orin2.html
• https://www.fa-manuals.denso-wave.com/en/usermanuals/001511/