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Remote Control

This document outlines the experimental remote control facilities of the RSWA.

Connection Details​

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Add the flag -tcprobot to the list of command arguments on the Array Explorer executable in order to enable the remote control interface. Click on Settings, then Applications. Select Array Explorer and click Modify... to edit the command arguments. You must be logged in as an administrator to do this.

The RSWA listens on port 19587. All communication is done via TCP. We provide a tcp connector application to test the server: start the Array Explorer, and then enter the IP address of the RSWA into the software, then send it one of the commands listed in the protocol below.

RSWA Robot Protocol​

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All messages sent to and from the RSWA are ASCII strings. Below are the commands the RSWA responds to, and their return values.

  1. SETUP = "2". Perform setup operation, RSWA returns OK (0000000000000001) on success, ERROR (0000000000000002) on failure. Timings: up to 1000 ms approx, depends on material thickness.
  2. GET = "3". Perform GET on current weld, RSWA returns OK (0000000000000001) on success, ERROR (0000000000000002) on failure. Timings: up to 1000 ms approx, depends on material thickness;
  3. NEXT = "4". Move to next weld in weld list, RSWA returns OK (0000000000000001) on success, ERROR (0000000000000002) on failure; Timings: 10 ms approx;
  4. DONE = "5". Save inspection and close it, RSWA returns OK (0000000000000001) on success, ERROR (0000000000000002) on failure. Timings: up to 1000 ms approx; Depends on number of measurements to save;
  5. GET_DIAMETER = "6". Get the diameter from the previous GET command. RSWA returns OK (DDDDDDDD00000001) on success, ERROR (0000000000000002) on failure; DDDDDDDD - is diameter in micrometers as a 32 bit integer in the upper 32 bits. Timings: 10 ms approx;
  6. GET_INDENTATION = "7". Get the indentation from the previous GET command. RSWA returns OK (NNNNNNNN00000001) on success, ERROR (0000000000000002) on failure. NNNNNNNN - is indentation in micrometers as a 32 bit integer in the upper 32 bits. Timings: 10 ms approx;

Limitations​

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Currently the robot interface does not support selecting which part/route to inspect. It is up to the inspector to either start a custom inspection, or select the part and route to measure prior to any robot commands being sent.