Dobot Magicial 用 DobotDll32.pas 2020/03/12～2020/07/28
・2020/03/18 使用例に Dobot 接続、切断を追加
・2020/07/28 DobotDll ラッパーのリンクを追加
■DobotDll を Delphi で使うユニットです。
下の方に、コメントアウトしたコマンド終了待ちのサンプルコードがあります。
■ダウンロード
dobotDll3.pas（拡張子が変わることがあります。）
※最近見つけた「DoboDllラッパー」。こちらの方が上級者っぽい。
https://github.com/norgepaul/DelphiDobotAPI
{
DobotDll32.pas + Delphi サンプル
EXE と同じフォルダに下記 DLL が必要
・DobotDll.dll (32bit)
・Qt5Core.dll
・Qt5Network.dll
・Qt5SerialPort.dll
}
unit DobotDll32;
interface
uses
Winapi.Windows;
// for Dobot *******************************************************************
type
TKinematics = packed record
velocity: single;
acceleration: single;
end;
TPTPCommonParams = packed record
velocityRatio : single;
accelerationRatio : single;
end;
TPTPCoordinateParams = packed record
xyzVelocity : single;
rVelocity : single;
xyzAcceleration : single;
rAcceleration : single;
end;
TPTPJointParams = packed record
velocity : array [0..3] of single;
acceleration : array [0..3] of single;
end;
TPTPJumpParams = packed record
jumpHeight : single;
maxJumpHeight : single; // Z Limit
end;
TPTPCmd = packed record
ptpMode : Byte;
x : single;
y : single;
z : single;
r : single;
end;
THOMEParams = packed record
x : single;
y : single;
z : single;
r : single;
end;
THOMECmd = packed record
rserved : Uint32; // = Cardinal
end;
TEndEffectorParams = packed record
xBias : single;
yBias : single;
zBias : single;
end;
TWAITCmd = packed record
timeout : Uint32; // Unit ms
end;
TPose = packed record
x : single;
y : single;
z : single;
r : single;
jointAngle : array [0..3] of single;
end;
TJOGJointParams = packed record
velocity : array [0..3] of single;
acceleration : array [0..3] of single;
end;
TJOGCoordinateParams = packed record
velocity : array [0..3] of single;
acceleration : array [0..3] of single;
end;
TJOGCommonParams = packed record
velocityRatio : single;
accelerationRatio : single;
end;
TJOGCmd = packed record
isJoint : Byte;
cmd : Byte;
end;
TCPParams = packed record
planAcc: Single;
juncitionVel: Single;
acc: Single;
realTimeTrack: Byte;
end;
TContinuousPathMode = (
CPRelativeMode,
CPAbsoluteMode
);
TCPCmd = packed record
cpMode: Byte;
x: Single;
y: Single;
z: Single;
velocity: Single;
end;
TIOFunction = (
IOFunctionDummy,
IOFunctionDO,
IOFunctionPWM,
IOFunctionDI,
IOFunctionADC
);
TIOMultiplexing = packed record
address: Byte;
multiplex: Byte;
end;
TIODO = packed record
address : Byte;
level : Byte;
end;
TIOPWM = packed record
address: Byte;
frequency: single;
dutyCycle: single;
end;
TIODI = packed record
address: Byte;
level: Byte;
end;
TIOADC = packed record
address: Byte;
value: UInt16;
end;
{
TPTPMode = (
JUMP_XYZ,
MOVJ_XYZ,
MOVL_XYZ,
JUMP_ANGLE,
MOVJ_ANGLE,
MOVL_ANGLE,
MOVJ_INC,
MOVL_INC,
MOVJ_XYZ_INC,
JUMP_MOVL_XYZ
);
}
// Win32 はこちらが正解みたい
TPTPMode = (
JUMP_XYZ,
MOVJ_XYZ,
MOVL_XYZ,
JUMP_ANGLE,
MOVJ_ANGLE,
MOVL_ANGLE,
MOVJ_INC,
MOVL_INC
);
TJOGMode = (
IDEL, //Invalid status
AP_DOWN, // X+/Joint1+
AN_DOWN, // X-/Joint1-
BP_DOWN, // Y+/Joint2+
BN_DOWN, // Y-/Joint2-
CP_DOWN, // Z+/Joint3+
CN_DOWN, // Z-/Joint3-
DP_DOWN, // R+/Joint4+
DN_DOWN // R-/Joint4-
);
TJOGModel = (COORDINATE_MODEL, JOINT_MODEL);
TARCParams = packed record
xyzVelocity : single;
rVelocity : single;
xyzAcceleration : single;
rAcceleration : single;
end;
TARCCmd = packed record
arcPointX : single;
arcPointY : single;
arcPointZ : single;
arcPointR : single;
toPointX : single;
toPointY : single;
toPointZ : single;
toPointR : single;
end;
// *****************************************************************************
// DobotDll.dll (32bit)
function ConnectDobot(portName: PAnsiChar ; baudrate: Uint32; fwType: PAnsiChar ; version: PAnsiChar ): Int32; stdcall; external 'DobotDll.dll';
function DisconnectDobot(): Uint32; stdcall; external 'DobotDll.dll';
// ????
function SearchDobot(dobotList: PAnsiChar; maxLen: UInt32): Int32; stdcall; external 'DobotDll.dll';
function DobotExec(): Int32; stdcall; external 'DobotDll.dll';
function SetCmdTimeout(cmdTimeout: UInt32): Int32; stdcall; external 'DobotDll.dll';
// Queued command control
function SetQueuedCmdStartExec(): Int32; stdcall; external 'DobotDll.dll';
function SetQueuedCmdStopExec(): Int32; stdcall; external 'DobotDll.dll';
function SetQueuedCmdForceStopExec(): Int32; stdcall; external 'DobotDll.dll';
function SetQueuedCmdStartDownload(totalLoop: UInt32; linePerLoop: UInt32): Int32; stdcall; external 'DobotDll.dll';
function SetQueuedCmdStopDownload(): Int32; stdcall; external 'DobotDll.dll';
function SetQueuedCmdClear(): Int32; stdcall; external 'DobotDll.dll';
function GetQueuedCmdCurrentIndex(var executedCmdIndex: Uint64): Int32; stdcall; external 'DobotDll.dll';
// SN information
function GetDeviceSN(deviceSN: PAnsiChar; maxLen: UInt32): Int32; stdcall; external 'DobotDll.dll';
// Device information
function SetDeviceName(deviceName: PAnsiChar): Int32; stdcall; external 'DobotDll.dll';
function GetDeviceName(deviceName: PAnsiChar; maxLen: Uint32): Int32; stdcall; external 'DobotDll.dll';
// public static?extern functions
function SetEndEffectorParams(var endEffectorParams: TEndEffectorParams; var isQueued: Bool; queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetEndEffectorParams(var endEffectorParams: TEndEffectorParams): Int32; stdcall; external 'DobotDll.dll';
function SetEndEffectorLaser(enableCtrl: Bool; isOn: Bool; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetEndEffectorLaser(var isCtrlEnabled: Bool; var isOn:Bool): Int32; stdcall; external 'DobotDll.dll';
function SetEndEffectorSuctionCup(enableCtrl: Bool; suck: Bool; isQueued: Bool; var queuedCmdIndex: Uint64): Int32; stdcall; external 'DobotDll.dll';
function GetEndEffectorSuctionCup(var isCtrlEnabled: Bool; var isSucked: Bool): Int32; stdcall; external 'DobotDll.dll';
function SetEndEffectorGripper(enableCtrl: Bool; grip: Bool; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetEndEffectorGripper(var isCtrlEnabled: Bool; var isGripped: Bool): Int32; stdcall; external 'DobotDll.dll';
// InitialPose
function ResetPose(manual: Bool; rearArmAngle: Single; frontArmAngle: Single): Int32; stdcall; external 'DobotDll.dll';
// Pose and Kinematics parameters are automatically get
function GetPose(var pose: TPose): Int32; stdcall; external 'DobotDll.dll';
function GetKinematics(var kinematics: TKinematics): Int32; stdcall; external 'DobotDll.dll';
function GetPoseL(var l: single): Int32; stdcall; external 'DobotDll.dll';
// HOME
function SetHOMEParams(var homeParams: THOMEParams; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetHOMEParams(var homeParams: THOMEParams): Int32;stdcall; external 'DobotDll.dll';
function SetHOMECmd(var homeCmd: THOMECmd; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
// Jog functions
function SetJOGJointParams(var jointJogParams: TJOGJointParams; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetJOGJointParams(var jointJogParams: TJOGJointParams): Int32; stdcall; external 'DobotDll.dll';
function SetJOGCoordinateParams(var coordinateJogParams: TJOGCoordinateParams; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetJOGCoordinateParams(var coordinateJogParams: TJOGCoordinateParams): Int32; stdcall; external 'DobotDll.dll';
function SetJOGCommonParams(var jogCommonParams: TJOGCommonParams; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetJOGCommonParams(var jogCommonParams: TJOGCommonParams): Int32; stdcall; external 'DobotDll.dll';
function SetJOGCmd(var jogCmd: TJogCmd; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
// PTP functions
function SetPTPJointParams(var ptpJointParams : TPTPJointParams; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetPTPJointParams(var ptpJointParams: TPTPJointParams): Int32; stdcall; external 'DobotDll.dll';
function SetPTPCoordinateParams(var ptpCoordinateParams: TPTPCoordinateParams; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetPTPCoordinateParams(var ptpCoordinateParams: TPTPCoordinateParams): Int32; stdcall; external 'DobotDll.dll';
function SetPTPJumpParams(var ptpJumpParams: TPTPJumpParams; isQueued: Boolean; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetPTPJumpParams(var ptpJumpParams: TPTPJumpParams): Int32; stdcall; external 'DobotDll.dll';
function SetPTPCommonParams(var ptpCommonParams: TPTPCommonParams; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetPTPCommonParams(var ptpCommonParams: TPTPCommonParams): Int32; stdcall; external 'DobotDll.dll';
function SetPTPCmd(var ptpCmd: TPTPCmd; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
// CP functions
function SetCPParams(var cpParams: TCPParams; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetCPParams(var cpParams: TCPParams): Int32; stdcall; external 'DobotDll.dll';
function SetCPCmd(var cpCmd: TCPCmd; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
// WAIT
function SetWAITCmd(var waitCmd: TWAITCmd; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
// EIO
function SetIOMultiplexing(var ioMultiplexing: TIOMultiplexing; isQueued: Bool; var queuedCmdIndex: Uint64): Int32; stdcall; external 'DobotDll.dll';
function GetIOMultiplexing(var ioMultiplexing: TIOMultiplexing): Int32; stdcall; external 'DobotDll.dll';
function SetIODO(var ioDO: TIODO; isQueued: Bool; var queuedCmdIndex: uint64): Int32; stdcall; external 'DobotDll.dll';
function GetIODO(var ioDO: TIODO): Int32; stdcall; external 'DobotDll.dll';
function SetIOPWM(var ioPWM : TIOPWM; isQueued: Bool;var queuedCmdIndex: uint64): Int32; stdcall; external 'DobotDll.dll';
function GetIOPWM(var ioPWM: TIOPWM): Int32; stdcall; external 'DobotDll.dll';
function GetIODI(var ioDI: TIODI): Int32; stdcall; external 'DobotDll.dll';
function GetIOADC(var ioADC: TIOADC): Int32; stdcall; external 'DobotDll.dll';
// Alarm
function GetAlarmsState(var alarmsState: Byte; var len: UInt32; maxLen: UInt32): Int32; stdcall; external 'DobotDll.dll';
function ClearAllAlarmsState: Int32; stdcall; external 'DobotDll.dll';
// Arc
function SetARCParams(var arcParams: TARCParams; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
function GetARCParams(var arcParams: TARCParams): Int32; stdcall; external 'DobotDll.dll';
function SetARCCmd(var arcCmd: TARCCmd; isQueued: Bool; var queuedCmdIndex: UInt64): Int32; stdcall; external 'DobotDll.dll';
// *****************************************************************************
implementation
// -----------------------------------------------------------------------------
// Dobot Exsamples
// -----------------------------------------------------------------------------
{
procedure TForm5.SpeedButton11Click(Sender: TObject);
// Dobot 接続
var
ret1 : integer;
fwType, version, deviceSN: array [0..63] of AnsiChar;
x, y, z, r: single;
begin
IsDobotConnected := false;
// fwType は省略不可, version は nil で省略可
ret1 := ConnectDobot('', 115200, fwType, version);//nil);
if ret1 = 0 then begin
if GetDeviceSN(deviceSN, 64) = 0 then begin
x := 200;
y := 0;
z := 0;
r := 0;
if dobotSetHomeParams(x, y, z, r) then begin
IsDobotConnected := true;
end;
end;
end;
end;
procedure TForm5.SpeedButton12Click(Sender: TObject);
// Dobot 切断
begin
DisconnectDobot();
IsDobotConnected := False;
end;
function movePTP(x, y, z, r: single): boolean;
var
Pose: TPose;
PTPCmd: TPTPCmd;
queuedCmdIndex : Uint64;
executedCmdIndex : UInt64;
ret : integer;
begin
result := False;
executedCmdIndex := 0;
if IsDobotConnected then begin
PTPCmd.ptpMode := (Ord(MOVL_XYZ));
PTPCmd.x := x;
PTPCmd.y := y;
PTPCmd.z := z;
PTPCmd.r := r;
ret := SetPTPCmd(PTPCmd, True, queuedCmdIndex);
if ret = 0 then begin
// 完了待ち
while (executedCmdIndex < queuedCmdIndex) do begin
GetQueuedCmdCurrentIndex(executedCmdIndex);
GetPose(pose);
//Form4.Memo1.Lines.Add(Format('x = %f, y = %f, z = %f, r = %f',[pose.x, pose.y, pose.z, Pose.r]));
Form4.Edit31.Text := Format('%.2f',[pose.x]);
Form4.Edit32.Text := Format('%.2f',[pose.y]);
Form4.Edit33.Text := Format('%.2f',[pose.z]);
Form4.Edit34.Text := Format('%.2f',[pose.jointAngle[0]]);
end;
GetPose(pose);
//Form4.Memo1.Lines.Add(Format('x = %f, y = %f, z = %f, r = %f',[pose.x, pose.y, pose.z, Pose.r]));
Form4.Edit31.Text := Format('%.2f',[pose.x]);
Form4.Edit32.Text := Format('%.2f',[pose.y]);
Form4.Edit33.Text := Format('%.2f',[pose.z]);
Form4.Edit34.Text := Format('%.2f',[pose.jointAngle[0]]);
Form4.Memo1.Lines.Add('>> move PTP End <<');
result := True;
end;
end;
end;
function moveArc(arcX, arcY, arcZ, arcR, toX, toY, toZ, toR: single): boolean;
var
pose : TPose;
arcCmd : TARCCmd;
queuedCmdIndex : UInt64;
executedCmdIndex : UInt64;
ret : integer;
begin
result := False;
executedCmdIndex := 0;
if IsDobotConnected then begin
// Z も円弧状態で動く
arcCmd.arcPointX := arcX;
arcCmd.arcPointY := arcY;
arcCmd.arcPointZ := arcZ;
arcCmd.arcPointR := arcR;
arcCmd.toPointX := toX;
arcCmd.toPointY := toY;
arcCmd.toPointZ := toZ;
arcCmd.toPointR := toR;
ret := SetARCCmd(arcCmd, true, queuedCmdIndex);
if ret = 0 then begin
// 完了待ち
while (executedCmdIndex < queuedCmdIndex) do begin
GetQueuedCmdCurrentIndex(executedCmdIndex);
GetPose(pose);
Form4.Memo1.Lines.Add(Format('x = %f, y = %f, z = %f, r = %f', [pose.x, pose.y, pose.z, Pose.r]));
end;
Form4.Memo1.Lines.Add('>> move ARC End <<');
result := True;
end;
end;
end;
function setSuctionCup(onFlag : boolean): boolean;
// SuctionCup ON / OFF
var
suck : LongBool;
queuedCmdIndex : Uint64;
ret : integer;
begin
result := False;
suck := onFlag;
queuedCmdIndex := 0;
if IsDobotConnected then begin
ret := SetEndEffectorSuctionCup(true, suck, true, queuedCmdIndex);
result := ret = 0;
end;
end;
}
end.