DobotTCP Library

DobotTCP is a Python library to control the Dobot robot range via its TCP interface. The library provides functions for managing motion, I/O, and configuration of the Dobot robot. It was specially developed with the Dobot MagicianE6 in mind.

Installation

Install the library via pip:

pip install DobotTCP

Ensure Python 3.8+ is installed. Install dependencies if not automatically installed:

pip install multipledispatch

Import the library in your project:

from DobotTCP import Dobot

Basic Usage

Example

from DobotTCP import Dobot

# Connect the robot
robot = Dobot(ip="192.168.5.1", port=29999)
robot.Connect()

# Enable robot and parse response
(err, rsp, cmd) = robot.EnableRobot()
print(f"  Error code: {err}")
print(f"  Response: {rsp}")
print(f"  Command: {cmd}")

# Move robot with joint motion to pose
robot.MovJ("pose={0,0,0,0,0,0}")

# Home robot
robot.Home()

robot.Disconnect()

Included Classes

Addidtional classes for robot accessories have been added

Flexible Gripper

Basic controls for a flexible gripper

from DobotTCP import Dobot, FlexGripper

robot = Dobot()
gripper = FlexGripper(robot)
gripper.Open()
gripper.Close()

Servo Gripper

Basic controls for a servo gripper (IO mode)

from DobotTCP import Dobot, ServoGripper

robot = Dobot()
servo_gripper = ServoGripper(robot)
servo_gripper.SetState(1)  # Open
servo_gripper.SetState(2)  # Close

Feedback

This class was implemented to receive feedback from the robot via TCP.

from DobotTCP import Dobot, Feedback

robot = Dobot()
feedback = Feedback(robot)
feedback.Connect()
feedback.Get()
print(feedback.data.get("RobotType"))

Notes

This class was written with the intention to stay as close to the syntax formatting of the original Dobot TCP protocol. Therefore, not all python style guides are followed. For example function names start with a capital letter.
Since method overloading is not trivial in python, some functions had to be changed in order to make them work in python. This is especially the case for the tray functions.

Version Changelog

v1.0.0 (17.01.2025): Initial release based on TCP protocol v4.5.0
v1.1.0 (20.01.2025):
- Update library based on new TCP protocol v4.6.0. Some new commands may require the robot controller version to be updated to V4.6.0.
- Add module docstring and parsing functions
v1.1.1 (27.01.2025): Various bug fixes
v1.1.2 (31.01.2025): Fixes bugs when parsing robot responses
v1.1.3 (16.06.2025): Fixes bug with incorrect init file
v1.1.4 (27.06.2025): Fixes bugs with Flexgripper class

Contributing

Feel free to contribute to the project by submitting issues or pull requests.

License

This project is licensed under the MIT License.

License

MichaelHengge/DobotTCP

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