Rethink Robotics Sawyer, Original Instructions Manual, Page: 132 / 220

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Intera 5.3
TCP/IP
Intera TCP/IP Communications
There are two ways to connect using TCP/IP: Either Sawyer is the server and the other device is the
client, or vice versa.
Note:
The server is not required to give an IP address, but it must give a port number for
devices to connect to.
TCP sockets in Intera communicate with strings of text only. The text can be any valid character.
The text strings are separated by special characters, or delimiters.
Types of Delimiters
•
Internal delimiter -- Separates fields within the text string. Example: comma.
•
End delimiter -- Marks the end of the data being sent. Example: /r/n (carriage
return or line feed).
•
Starting delimiter -- Indicates the start of the message. Example: RETHINK.
Starting delimiters are optional.
Note:
When messages are accepted, all delimiters are stripped from the message and
are therefore not seen as part of the data.
Data Types
•
Float -- A number with a decimal point. (Example: 5.5)
•
Integer -- A number. same as float without a decimal point. (Example: 10)