ORiN 2 - Programming in C# (bCAP Packets)

Modified on Wed, 16 Oct at 6:57 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 C# (bCAPClient). This article is not intended to aid you with programming in C# 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 C# 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.

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.

RC8 Provider User Guide Samples in C#

This document intends to give you a better experience when trying to implement a command in the provider. We have "translated" the original VB6 samples in Section 5.0 from the RC8 provider guide into C# language. Click here to download a copy.

More samples...

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

RC8 Provider Samples

Sample Name	Directory Path
bCapRobotMove	C:\ORiN2\CAP\b-CAP\CapLib\DENSO\RC8\Samples\CSharp\bCapRobotMove
bCapSlaveMove	C:\ORiN2\CAP\b-CAP\CapLib\DENSO\RC8\Samples\CSharp\bCapSlaveMove
bCapVariableAccess	C:\ORiN2\CAP\b-CAP\CapLib\DENSO\RC8\Samples\CSharp\bCapVariableAccess

Owner's Manual Reference

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