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

Overview

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.

This article is meant to help to gather information on resources that can help you get started with interfacing with the CAO Engine in JAVA. This article is not intended to aid you with programming in Python. 

Tools and Parts needed

• ORiN 2 SDK Install
• PC running Windows OS
• Java Runtime Environment

NOTE:
The following sample code is provided "AS IS" under the MIT License. Programming support service of JAVA 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 CAO Tester application	ORiN 2 - Operation check using CAOTester (CAO Engine)
Connecting to CAO engine from JAVA It is impossible to call by COM from Java. Therefore, to use CAO from Java, there are the following methods. JNI native method library Java-COM bridge library. Reference: Section 2.6.5 of the ORiN2 - Programmers User Guide C:\ORiN2\CAO\Doc

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. 

Programming using the Provider

The following samples are for performing various basic but essential operations. The samples are for connecting using the RC8 Provider.

For more information you can reference Section 4 RC8 Programming Using the Provider from the RC8 Provider User's Guide PDF document. 

More samples...

You can find JAVA samples in your install of the ORiN 2 SDK. Here are some recommendations:

RC8 Provider Samples

Owner's Manual Reference

• PROGRAMMING