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.