node-dsr

Doosan robot client module for nodejs

Doosan Robot Library(libDRFL)

Library Link: https://github.com/doosan-robotics/doosan-robot2/raw/master/common2/lib/foxy/x86_64/libDRFL.a

Module Limitations

• Supported on linux(64bit)
• Node version > 14.0
• Max instance number < 10
• need some opearation like homming in teaching pendant before you connect the robot using this module

DSR Library Limitations

• openConnection function doesn't return and go to the freeze state when some connection exceptions happened.
• max instance number is limited by doosan api library because of the library doesn't handle instanace or any other context data as callback parameter

Prerequsites

Linux

Build and install POCO

wget https://github.com/pocoproject/poco/archive/refs/tags/poco-1.8.0-release.tar.gz 
tar xvfz poco-1.8.0-release.tar.gz
cd poco-poco-1.8.0-release
mkdir cmake-build
cd cmake-build/
cmake ..
cmake --build . --config Release
sudo make install

API

"use strict";

const dsrlib = require("bindings")("node-dsr");

var nodeDsr = new dsrlib.NodeDsr("192.168.137.50");

// openConnection
console.log("openConnection: ", nodeDsr.openConnection());

// getSystemVersion
console.log("sysversion(0): ", nodeDsr.getSystemVersion(0));
// getSystemVersion
console.log("sysversion(1): ", nodeDsr.getSystemVersion(1));
// getSystemVersion
console.log("sysversion(2): ", nodeDsr.getSystemVersion(1));
// movel #1(Absolute)
var pos = [389.48, -167.21, 438.1, 131.13, -177.21, 158.0];
var vel = [30.0, 30.0];
var acc = [40.0, 40.0];
console.log("movel #1: ", nodeDsr.movel(pos, vel, acc));
// movel #2(Relative)
var pos = [10.0, 0.0, 0.0, 0.0, 0.0, 0.0];
var vel = [30.0, 30.0];
var acc = [40.0, 40.0];
console.log("movel #2: ", nodeDsr.movel(pos, vel, acc, 0.0, true));
// movej
var pos = [-0.8, -9.44, 135.92, -5.58, 52.59, 0.66];
var vel = 30.0;
var acc = 40.0;
console.log("movej: ", nodeDsr.movej(pos, vel, acc));
// setDigitalOutput
console.log("setDigitalOutput: ", nodeDsr.setDigitalOutput(1, false))
// getCurrentPos
console.log("getCurrentPos: ", nodeDsr.getCurrentPos(true));
// getAnalogInput
console.log("getAnalogInput: ", nodeDsr.getAnalogInput(0), nodeDsr.getAnalogInput(1));
// getRobotStatus
console.log("getRobotStatus: ", nodeDsr.getRobotStatus());
// home 
console.log("home: ", nodeDsr.home(true, true));

// set task speed
console.log("setTaskSpeedLevel, ", nodeDsr.setTaskSpeedLevel(0))
console.log("getTaskSpeedData, ", nodeDsr.getTaskSpeedData())
console.log("setTaskSpeedCustom, ", nodeDsr.setTaskSpeedCustom(50, 100))
console.log("getTaskSpeedData, ", nodeDsr.getTaskSpeedData())
console.log("setTaskSpeedLevel, ", nodeDsr.setTaskSpeedLevel(2))
console.log("getTaskSpeedData, ", nodeDsr.getTaskSpeedData())
console.log("setJointSpeedLevel, ", nodeDsr.setJointSpeedLevel(2))
console.log("getJointSpeedData, ", nodeDsr.getJointSpeedData())
console.log("setJointSpeedCustom, ", nodeDsr.setJointSpeedCustom(40, 55))
console.log("getJointSpeedData, ", nodeDsr.getJointSpeedData())
console.log("setJointSpeedLevel, ", nodeDsr.setJointSpeedLevel(2))
console.log("getJointSpeedData, ", nodeDsr.getJointSpeedData())

// closeConnection
console.log("closeConnection: ", nodeDsr.closeConnection());
console.log("exit");