Quick Start

Last updated: July 24th, 2018

Prerequisities

  • Windows operating system, WinXP and later.
  • Microsoft C++ runtime (is installed with system)
  • Winpcap (is installed with system)

Download

Download Installer form Github page. Use latest release.

Download CobaltControl

Installation

Run Installer

Run installer Setup_vX.X.X.exe and follow wizard.

After installation

After successfull installation you should see three icons representing three core components of the system.

  • Control Display: Display application.
  • Control Server: Server core application.
  • TGmotion Simulation: Simulation of TGmotion.

Uninstall

For remove of the system please use Windows control panel or run unins000.exe file in the directory where you have the system installed.

Start System

Control Display



Control display is independent applicatrion for display 3D environment of controlled robot. Application can run on local (the same computer where control system runs) or on remote computer. You can run or stop application anytime by double-click on icon.

   

Useful Tip:

Application indicates successfull connection with ControlServer by upper green spot and successfull connection to TGmotion via lower green spot. If any of these two spots is not green please check if both application are running as described in following.

Control Server



Main application of control system. This application works with both TGmotion real-time and TGmotion simulation application. Application also ensures connection of Control Display application.

Double click on the icon and you will see console application indicationg the system is running.

TGmotion Simulation



Run this application if you want to siumulate TGmotion. In case you want to control real hardware you have to use real-time TGmotion system and not this application.

Double click on icon and you will see console indicating that the system runs.

  

Warning

In case you want to control connected machine you have to use real-time TGmotion. In this case you must not use this application.

Work with Robot

Open ControlDisplay and ensure that system is connected and alive indicated by two green spots. Now you can work with robot - either simulation or real machine.

Run G-Code Trajectory

  1. Click to Select CNC file drop down list and select desired CNC file.
  2. G-code will be loaded and you can see trajectory in robot environment.
  3. Click Stop button and robot executes trajectory.

   

Useful Tip:

Button Stop stops movement of robot alongside trajctory and button Back starts run backward.

Run robot manually

  1. Click three-arrows selector and you can see buttons for manual movement.
  2. In robot environment you can see three X, Y, Z axis of possible robot directions.
  3. Click +X button and robot will move along positive X axis.

   

Useful Tip:

Notice dashed lines alongside X, Y, Z axes in robot space. These indicates a maximal possible robot movement with respect machine limits.

Point to Point movement of robot

  1. Click Arrow to point symbol to enable point to point mode.
  2. Enter coordinates X, Y, Z and U, V, W and you can see bright blue trajectory in robot space.
  3. If the trajectory is achievable you can see Start and Stop buttons for start movement.

   

Warning:

If any part of point to point trajectory is red and Start, Stop buttons are ninvisible, the trajectory is not reachable - e.g. out of robot space etc.