Digital Casting System Contoller

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

Requirements

• TwinCAT
• ABB RobotStudio
• Docker
• Anaconda

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 control pysical and virtual robot via ROS package (Compas_RRC warpper).

Usage

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

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

Real controller (Pysical 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

Credits

This package was created by WeiTing 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