tailieunhanh - Industrial Robots Programming - J. Norberto Pires Part 8

Tham khảo tài liệu 'industrial robots programming - j. norberto pires part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 132 Industrial Robots Programming Consequently the robot controller software works as a server exposing to the client a collection of RPC services that constitute its basic functionality. Those services offered by the RPC servers running on the robot controller include the variable access services files and programs management services and robot status and controller-state management and information services. To access those services the remote computer client issues properly parameterized remote procedure calls to the robot controller server through the network. Considering for example the S4CPLUS robot controller from ABB Robotics it s possible to extend the RPC services available in the robot controller adding user functionality to the system. The ABB implementation is based on a messaging protocol developed by ABB called RAP remote application protocol 8 which is an application specific protocol ASP of the OSI application level. The messaging protocol RAP defines the necessary data structures and message syntax of the RPC calls used to explore the RPC services available in the controller. These services were implemented using the standard and open source RPC specification SUN RPC a collection of tools developed by the SUN Microsystems Open Network Group ONC 2 . Consequently to implement the client calls the ONC SUN RPC specification and tools were also used. This package includes a compiler rpcgen a portmaper and a few useful tools like rpcinfo. The Microsoft RPC implementation uses another standard defined by Digital Corporation named OSF DCE which is not compatible with the SUN RPC standard. The package used to build the client software was a port to Windows NT 2000 XP equivalent to the original version that was built to UNIX systems although a few functions were slightly changed to better suit the needs without compromising compatibility with client and server programs developed with the SUN RPC package. The port was compiled using the Microsoft .