TCP-IP-Python-V4 Project Documentation

Project Overview

This project is the Dobot Robot TCP-IP-CR-Python-V4 secondary development API program, used to control Dobot robots through TCP/IP protocol. The project provides complete robot control interfaces, including motion control, status monitoring, alarm handling, and other functions.

Environment Requirements

Python Version

Python 3.6 or higher

Required Libraries

# Basic numerical computation library
pip install numpy

# JSON data processing (Python built-in, no installation required)
# import json

# Network communication (Python built-in, no installation required)
# import socket

# Multi-threading support (Python built-in, no installation required)
# import threading

# Time processing (Python built-in, no installation required)
# import time

# Regular expressions (Python built-in, no installation required)
# import re

# GUI interface library (if using ui.py)
pip install tkinter  # Usually comes with Python

Network Configuration Requirements

Local machine IP address needs to be set to 192.168.X.X network segment
Robot needs to be switched to TCP/IP mode
Ensure ports 29999 and 30004 are not occupied

Main Program Files and Functions

1. main.py

Function: Project main entry file

Demonstrates basic robot connection and control flow
Contains complete robot operation examples
Suitable for beginners to understand project structure

2. dobot_api.py

Function: Core API interface file

DobotApi: Basic communication class, handles TCP connections
DobotApiDashboard: Robot control interface class
- Robot enable/disable
- Motion control commands (MovJ, MovL, Arc, etc.)
- Status query and setting
- Alarm information acquisition (including newly added GetError interface)
DobotApiFeedBack: Status feedback class
- Real-time acquisition of robot status information
- Monitor robot operation mode
- Get current command ID
MyType: Data type definitions
alarm_controller: Controller alarm handling
alarm_servo: Servo alarm handling

3. ui.py

Function: Graphical user interface program

Provides visual robot control interface
Integrates robot connection, motion control, status display and other functions
Supports real-time display of robot status and alarm information
Prioritizes using GetError interface to get alarm information, falls back to original method if failed

4. Test and Example Files

get_error_example.py

Function: GetError interface usage example

Provides RobotErrorMonitor class for alarm monitoring
Demonstrates how to get and process multi-language alarm information
Contains functionality to save alarm information to files
Comments in both Chinese and English

5. Documentation Files

GetError_README.md

Function: GetError interface Chinese documentation

Detailed explanation of GetError interface usage
Contains interface parameters, return values, example code, etc.
Provides troubleshooting and precautions

GetError_README_EN.md

Function: GetError interface English documentation

English version of GetError_README.md
Convenient for international users to understand and use

Project Directory Structure

TCP-IP-Python-V4/ ├── main.py # Main program entry ├── dobot_api.py # Core API interface ├── ui.py # Graphical interface program ├── PythonExample.py # Python examples ├── get_error_example.py # GetError usage example ├── GetError_README.md # GetError Chinese documentation ├── GetError_README_EN.md # GetError English documentation ├── README.md # Project documentation └── files/ # Other support files

Quick Start

1. Environment Setup

# Clone the project
git clone https://github.com/Dobot-Arm/TCP-IP-CR-Python-V4.git

# Install dependencies
pip install numpy

2. Network Configuration

Set local machine IP to 192.168.X.X network segment
Ensure robot is in TCP/IP mode

3. Run Programs

Run main program

python main.py

Or run graphical interface

python main_UI.py

Common Problem Solutions

1. ModuleNotFoundError: No module named 'numpy'

Solution: Install numpy library

pip install numpy

2. Connection refused, IP:Port has been occupied

Solution: Check if port 29999 is occupied, close the program occupying that port

3. Control Mode Is Not Tcp

Solution: Switch robot mode to TCP/IP mode in DobotStudio Pro

4. Robot Status Abnormal

Output Message	Robot Status	Solution
Command execution failed	Command failed	Check command parameters and robot status
The robot is in an error state	Robot error state	Clear alarms and retry
The robot is in emergency stop state	Emergency stop state	Release emergency stop button
The robot is in power down state	Power down state	Power on the robot

Precautions

Safety First: Ensure the robot is in a safe position before running examples to prevent collisions
Network Configuration: Ensure correct network configuration with IP addresses in the same network segment
Port Occupation: Ensure ports 29999 and 30004 are not occupied by other programs
Robot Mode: Ensure the robot is in TCP/IP control mode
Permission Issues: Some operations may require administrator privileges

Technical Support

If you encounter problems, please refer to: Project README.md documentation

GetError related documentation
Example code and test programs
Dobot official technical support

Version: V4 Update Date: 2025-9-5 Maintainer: dobot_futingxing

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