[Dmitry]

This post contains no questions or suggestions. On the contrary, it contains a ready-to-use solution to support remote control of Hanwha collaborative robots via RoboDK. All necessary files are available to RoboDK team on GitHub in my private repository (https://github.com/vdm-dev/robodk-hanwha-driver).

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Follow the steps below to configure RoboDK to work with Hanwha robots.

Step 1. Setup the Robot IP address

• Log in as Administrator
  

Default Passwords
Login:Admin
Password:170502
or
Login:user
Password:hcr5
* by default the "user" account also has administrator privileges.

• OpenSW Configuration ⇒ Network Settingand fill in the parameters of your local network, in particular the IP address and subnet mask. ClickApplyand agree to reboot if the system asks you to do so.
  

Step 2. Install the RoboDK Connector Plug-in

• Log in as Administrator
  
• Prepare a USB flash drive with theRoboDK.asarfile on it and plug it into the robot controller or the teaching pendant.
  
• OpenManagement ⇒ Rodi-X Plug-inand clickAddbutton to open the Select File dialog.
  

• ChooseRoboDK.asarand clickOK.
  

• Press theRestartbutton.
  
• After reloading, you will be able to see information about the plugin.
  

• OpenRodi X⇒ RoboDKand make sure that theServer Statusfield contains no error messages. If the TCP 7000 port appears to be occupied by another application, you can change it by entering another value in theCommunication Portfield and clickingApply.
  

• Now the robot is ready for remote control.
  

Step 3. Setup the RoboDK connection

• Copy the filehanwha.pyto the folder/RoboDK/api/Robot(default path in Windows:C:\RoboDK\api\Robot).
  
• Set up your RoboDK project and place one of the Hanwha robots in it. For example, the HCR-3.
  
• Right-click on the robot in the project tree and selectConnect to robot...
  
• In theConnection to HCR-3window, fill in theRobot IP/COMandRobot portfields (use the robot's IP address and the port number from the RoboDK Plug-in).
  
• In the same window, click the更多的optionsbutton and type hanwha in theDriverfield (or use theSelectbutton to select the appropriate driver from the list).
  
• Click theConnectbutton and if all the settings are correct, you will seeReadyin theConnection statusbar.
  
• Check the system operation by pressing theGet PositionandMove Jointsbuttons.Be careful, if the servo drives are on, then after pressing Move Joints the robot will start moving to the position set by RoboDK.
  

Demonstration


On Monday I will try to record a video with a real robot.

Best regards,
Dmitry Lavygin
PhD, Senior Researcher

[Dmitry]

Attaching the video of the real robot, as promised.
Part 1

Part 2

[Sam]

Awesome work!

[Oleksandr]

Hello there,

I hope you're doing well. I recently tried to access the files that you shared, but unfortunately, it seems that they are no longer available. I was really looking forward to checking them out, so I was wondering if it would be possible for you to reupload the files.

If you're able to do so, could you please provide me with the new link to access the files? I would really appreciate it.

Thank you very much.

[Dmitry]

This is unfinished version of the Hanwha driver.

[pondinesh006]

We can work with this driver in real robot is possible.

[Albert]

I'm not sure we understand.

Can you confirm if the driver that Dmitry sent you is working for you with the real robot?