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README.md

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PLC set up

This example uses Twincat 3, but any PLC system with support for OPC UA is compatible.

  1. Install the TF6100 OPC UA function from here.

  2. Create a new project in Twincat 3.

  3. Adding license:

    • In the 'Solution Explorer' panel, select SYSTEM > Licence.
    • Click the 'Manage Licenses' tab. Scroll down and tick the TF6100 license checkbox.
    • The license should appear under 'Order Information' tab.

  4. Follow the instruction here to configure the OPC UA namespace.

  5. Add the following variables:

    VAR
    {attribute 'OPC.UA.DA' := '1'}
    J1 : REAL;
    {attribute 'OPC.UA.DA' := '1'}
    J2 : REAL;
    {attribute 'OPC.UA.DA' := '1'}
    J3 : REAL;
    {attribute 'OPC.UA.DA' := '1'}
    Connect : BOOL := TRUE;
END_VAR

  6. Activate and start the project.

Simulation setup

This example uses Visual Components 4.1 Premium.

  • Open the 'DobotProgram.vcmx' file and navigate to the 'Connection' tab in Visual Components.
  • Edit the address of the server under the 'Properties' panels if necessary.
  • Start the simulation. The variables should be updated in the Twincat portal

Dobot client setup

On Windows:

  • Download and install python 3.7 here

  • Install the OPC UA library:

    pip install opcua

  • Add the DobotDll/Windows/x64 or DobotDll/Windows/x86 to the User's 'PATH' environment variable. Instructions can be found here

  • Start the client:

    python livepolling-client.py

If connected the robot should move accordingly to the simulation.

On Linux:

Install Anaconda:

  • Download the Anaconda setup script for Linux here

  • Run the downloaded script:

    bash Anaconda-latest-Linux-x86_64.sh

  • Follow the installation wizard. Remember to initialize conda when prompt. If you are unsure about any settings, accept the defaults. You can change them later.

  • Test your installation with:

    conda list

Setup the python virtual environment:

  • Navigate to the directory of this repo and execute:

    conda env create -f environment.yml

  • Verify that the new 'dobot' environment was installed correctly:

    conda env list

  • Activate the enviroment:

    conda activate dobot

Run the Dobot client:

In the 'livepolling-client.py' modified the server address according to the Twincat runtime address:

client = Client("opc.tcp://laptop:4840/") # change server address here

Then start the client:

python livepolling-client.py

If connected the robot should move accordingly to the simulation.