Unable to control DO17 or DO18 with API

afischer · 2022-10-28 14:11:12 UTC

Using the command “DO(Index, status)” we can switch all DOs from 1-16 e.g. by using "DO(1,1) to switch the first DO to High.

However the “DO” command fails when using it for index 17 or 18 with error -40001 and thus we cannot use the End I/O pins to control an electrical gripper.

We can control DO 17 and DO 18 easily with Dobot Studio Pro 2.3.1.

The firmware is 1.5.7.0

Can you please help us to figure out how to control DO17 and DO18 using the API.

Edit @ 01.11.22: We were also not able to control DO17 and DO18 via blockly where one can only select “DO_1” to “DO_16”.

hans99 · 2022-11-03 04:29:26 UTC

you can use ToolDO(1,ON) ToolDO1=DO17 ToolDO2=DO18

afischer · 2022-11-03 08:29:51 UTC

Thanks for the info. We will try this out.

Could you please update your documentation:

github.com

Dobot-Arm/TCP-IP-Protocol/blob/master/README-EN.md


# 1. Overview

Dobot industrial robots now support two remote control modes: **remote I/O mode** and **remote Modbus mode**. For details about the control mode, see Setting > Remote Control in *Dobot CRStudio UserGuide*. 

The above two modes are mainly for the **remote control of running scripts**. As the communication based on TCP/IP has high reliability, strong practicability and high performance with low cost, many industrial automation projects have a wide demand for control robots that support TCP/IP protocol. So CR/MG400/M1 Pro robots, designed on the basis of TCP/IP protocol, provide rich interfaces for interaction with external devices.

In terms of the controller version to support TCP/IP protocol, CR series controller version should be V3.5.1.19 or above, and MG400/M1Pro controller version should be V1.5.5.0 or above.



# 2. Message Format

According to the design, CR/MG400/M1 Pro robots will open 29999, 30003, 30004, 30005 and 30006 server ports. 

Server port 29999  (hereinafter referred to as Dashboard port) is responsible for receiving some simple commands by sending and receiving one by one. That is, after receiving the agreed message format from the client, the Dashboard port will give feedback to the client. 

Server port 30003  (hereinafter referred to as the real-time feedback port) feeds back the robot information. It only receives the agreed message format from the client but does not give feedback. (Note: Port 30003 port is split into port 30003 and port 30004, which is expected to be implemented in controller version 3.5.2. Controller version 3.5.1 currently has only one 30003 port for real-time feedback or sending motion commands.)

Server port 30004 (hereinafter referred to as real-time feedback port) feeds back robot information every 8ms. Port 30005 provides robot information every 200ms. Port 30006 is a configurable port to feed back robot information. By default, port 30006 provides feedback every 50ms.

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So far, it says that ToolDO can only be used for the CR series.

Furthermore, there is no command for ToolDO in blockly in Dobot Studio.