Python Example - Simple TCP/IP Socket Client

This example will explore how to set up a simple TCP/IP socket client to exchange data with the robot. The below example is intended to be as a reference of how a TCP/IP client will work with the robot to send and receive ASCII strings. The concepts discussed here can be easily applied across multiple programming languages and PLCs.


import socket import time #create an INET, STREAMing socket (IPv4, TCP/IP) try: client = socket.socket(socket.AF_INET, socket.SOCK_STREAM) except socket.error: print('Failed to create socket') sys.exit() print('Socket Created') ROBOT_IP= "192.168.0.100" ROBOT_PORT = 10000 #Connect the socket object to the robot using IP address (string) and port (int) client.connect((ROBOT_IP,ROBOT_PORT)) print('Socket Connected to ' + ROBOT_IP ) #Read the response sent by robot upon connecting msg = client.recv(1024).decode('ascii') print(msg) #Send cmd to Activate the robot cmd = 'ActivateRobot' # Add ASCII NULL character at the end of the cmd string try: client.send(bytes(msg+'\0','ascii')) time.sleep(15) msg = client.recv(1024).decode('ascii') print(msg) except socket.error: print('Failed to send data') cmd = 'Home' # Add ASCII NULL character at the end of the cmd string try: client.send(bytes(msg+'\0','ascii')) time.sleep(5) msg = client.recv(1024).decode('ascii') print(msg) except socket.error: print('Failed to send data') cmd = 'MoveJoints(0,0,0,0,0,0)' # Add ASCII NULL character at the end of the cmd string try: client.send(bytes(msg+'\0','ascii')) msg = client.recv(1024).decode('ascii') print(msg) except socket.error: print('Failed to send data') cmd = 'MoveJoints(0,-60,60,0,0,0)' # Add ASCII NULL character at the end of the cmd string try: client.send(bytes(msg+'\0','ascii')) msg = client.recv(1024).decode('ascii') print(msg) except socket.error: print('Failed to send data') cmd = 'DeactivateRobot' # Add ASCII NULL character at the end of the cmd string try: client.send(bytes(msg+'\0','ascii')) msg = client.recv(1024).decode('ascii') print(msg) except socket.error: print('Failed to send data') #Disconnect from the robot and close the socket object client.close() sys.exit()








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