Digital Casting System Controller

This repository is the submoudle of Digital Casting System for PLC controller and ABB robot.

Requirements

• TwinCAT 3
• ABB RobotStudio 2023/2024
• Docker

Package Information

• machines: the dosing pump driver data.
• plc: the TwinCAT project for the PLC controller.
• robot: the ABB robot 4600 package for RobotStudio.
• script: the example script for controlling a physical and virtual robot via ROS wrapper package.

Note

Please the script folder is for testing the connection and setting the robot to hone pos (each joint is 0 degrees)

TODO: add class diagram of PLC controller.

Usage

DCS robot control panel

Please find more detail on online doc.

Development Installation

Main package install

TODO: uv setup for the further dev package

Connect with TwinCAT

Install TwinCAT 3.4 and open the project in plc\A061_DCS_ConcreteController_v1 folder. Detailed setup instructions can be found here.

Connect with ABB robot 4600

The source code is /robot//robot/robotstudio.

Real controller (Physical Robot)

docker
# clean the stopped container
docker container prune

# compose up and connect with docker container
docker-compose -f .\robot\docker_compas_rrc\real_controller\docker-compose.yml up

# run the wellcome script
python .\script\welcome_dcs.py

Virtual Controller(RobotStudio Simulation)

docker
# clean the stopped container
docker container prune

# compose up and connect with docker container
docker-compose -f .\robot\docker_compas_rrc\virtual_controller\docker-compose.yml up

# run the wellcome script
python .\script\welcome_dcs.py

Credits

Author: Wei-Ting Chen
This package was created by Wei-Ting Chen at USI-FMAA and ETHZurich DFab.

Acknowledgment

compas_rrc is a wrapper for the ROS-Industrial Abb driver. The original package can be found here