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Dobot+ Agent Skill

@dobot-plus/skill is a Agent Skill that converts the device specification in a project's root doc.md into runnable Dobot+ plugin code — Lua logic, UI pages, block/script configurations, and more.

Use it together with @dobot-plus/cli to speed up Dobot+ plugin development.

Requirements​

  • Node.js v20+
  • IDE (with Agent Skills support)
  • @dobot-plus/cli (install globally for the dpt build command)

Installation​

npm install -g @dobot-plus/skill@latest

After installation, the skill is deployed automatically to ~/agents/skills/dobot-plus.

You can customize it with environment variables:

VariableDescription
DOBOT_SKILL_INSTALL_DIRRoot directory for skill installation; defaults to ~/agents/skills
SKIP_DOBOT_SKILL_INSTALLSet to 1 to skip the postinstall deployment step

Usage​

1. Prepare a Dobot+ plugin project​

Create or open an existing Dobot+ plugin project with @dobot-plus/cli:

npm install -g @dobot-plus/cli
dpt create

2. Write the device specification​

Create doc.md in the project root describing the device's communication protocol, register addresses, and function definitions. The document should include:

  • Protocol parameters (e.g. Modbus RTU baud rate, parity)
  • Register addresses and bit-field descriptions
  • A list of device functions

Here is an example doc:

# VG10 / VGC10 Development Manual

## 1. Device Overview

VG10/VGC10 is OnRobot's vacuum gripper series. This document is based on Connectivity Guide v1.23.0 and describes its underlying Modbus communication interface.

> **Note:** This interface is confidential and intended for experienced integrators only. Improper use may damage the device and void the warranty. OnRobot does not provide further support.

## 2. Communication Protocol

VG10/VGC10 supports the **Modbus RTU** protocol over RS485 at the physical layer.

### 2.1 Modbus RTU Settings

| Setting        | Value                    |
| -------------- | ------------------------ |
| Baud rate      | 1000000 bit/s            |
| Start bit      | 1                        |
| Data bits      | 8                        |
| Parity         | Even                     |
| Stop bits      | 1                        |
| CRC checksum   | 16 bit (Modbus default)  |
| CRC polynomial | 0xA001 (Modbus default)  |

### 2.2 Device Address

| Connection method                    | Device address |
| ------------------------------------ | -------------- |
| Via Quick Changer                    | 65 (0x41)      |
| Via HEX-E/H QC                       | 65 (0x41)      |
| Via Dual Quick Changer (primary 1)   | 66 (0x42)      |
| Via Dual Quick Changer (secondary 2) | 67 (0x43)      |

## 3. Product Identification

You can confirm that a connected device is VG10/VGC10 via common registers:

| Address      | Register name | VG10/VGC10 value         |
| ------------ | ------------- | ------------------------ |
| 1536 (0x600) | Product code  | VG10: 0x10 / VGC10: 0x11 |

## 4. Supported Modbus Function Codes

| Function code | Name                      | Purpose                                              |
| ------------- | ------------------------- | ---------------------------------------------------- |
| 3 (0x03)      | Read Holding Registers    | Read one or more consecutive registers               |
| 6 (0x06)      | Write Single Register     | Set the value of a single register                   |
| 16 (0x10)     | Write Multiple Registers  | Set values of multiple consecutive registers         |
| 23 (0x17)     | Read/Write Multiple Registers | Read and write registers in one operation (write then read) |

## 5. Register Map

### 5.1 Register Overview

| Address      | Register name           | Access       |
| ------------ | ----------------------- | ------------ |
| 0 (0x0000)   | Channel A Control       | Read + Write |
| 1 (0x0001)   | Channel B Control       | Read + Write |
| 2 (0x0002)   | Current Limit           | Read + Write |
| 258 (0x0102) | Channel A Actual Vacuum | Read only    |
| 259 (0x0103) | Channel B Actual Vacuum | Read only    |

### 5.2 Common Registers

The following registers apply to all OnRobot devices:

| Address       | Content                                                          |
| ------------- | ---------------------------------------------------------------- |
| 0x600         | Product code (VG10: 0x10, VGC10: 0x11)                           |
| 0x604         | Firmware version (high 8 bits: major, low 8 bits: minor)         |
| 0x605         | Firmware build number                                            |
| 0x609 - 0x618 | Serial number (32 bytes, 2 ASCII characters per register)        |

---

## 6. Register Details

### 6.1 Channel A Control (0x0000) - Read/Write

Controls vacuum operations for channel A.

**Register value composition:**

- Low byte (Bit 0-7): Control mode
- High byte (Bit 8-15): Target vacuum level (used only in Grip mode)

**Control modes:**

| Register value | Name    | Description                                                          |
| -------------- | ------- | -------------------------------------------------------------------- |
| 0 (0x0000)     | Release | Release the workpiece; stop the pump if the other channel has no demand |
| 1 (0x0001)     | Grip    | Build and maintain vacuum                                            |
| 2 (0x0002)     | Idle    | Idle mode; neither release nor grip; slightly lower power consumption  |

**Target vacuum level examples:**

| Target vacuum | Register value |
| ------------- | -------------- |
| Release       | 0 (0x0000)     |
| 20%           | 276 (0x0114)   |
| 40%           | 296 (0x0128)   |
| 75%           | 331 (0x014B)   |
| Idle          | 512 (0x0200)   |

> **Note:** The target vacuum level must not exceed 80%.

---

### 6.2 Channel B Control (0x0001) - Read/Write

Controls vacuum operations for channel B. Functionality is identical to Channel A Control; refer to the previous section.

---

### 6.3 Current Limit (0x0002) - Read/Write

Sets and reads the current limit.

| Parameter    | Value    |
| ------------ | -------- |
| Unit         | mA       |
| Default      | 500 mA   |
| Maximum allowed | 1000 mA |

> **Warning:** Do not set this value above 1000 mA.

---

### 6.4 Channel A Actual Vacuum (0x0102) - Read Only

Reads the current actual vacuum level for channel A.

| Parameter | Description                                                                 |
| --------- | --------------------------------------------------------------------------- |
| Unit      | 1/1000 relative vacuum                                                      |
| Note      | Unlike the setpoint (percentage), this uses thousandths for higher precision |

---

### 6.5 Channel B Actual Vacuum (0x0103) - Read Only

Reads the current actual vacuum level for channel B.

Specifications are the same as Channel A Actual Vacuum.

---

## 7. Operation Flow

### 7.1 Basic Control Flow

1. **Configure current limit (optional)**
   - Write the current limit value (mA) to register 0x0002

2. **Set and start vacuum gripping**
   - Write a Grip command with target vacuum to register 0x0000 (channel A) or 0x0001 (channel B)
   - Example: `0x0114` = grip at 20% vacuum, where **01 is the mode in the high 8 bits; 14 is the parameter in the low 8 bits**

3. **Monitor actual vacuum**
   - Read register 0x0102 (channel A) or 0x0103 (channel B)
   - Obtain actual vacuum in thousandths

4. **Release workpiece**
   - Write `0x0000` to the corresponding channel control register

5. **Idle state**
   - Write `0x0200` to the corresponding channel control register

### 7.2 Dual-Channel Usage

Both channels of VG10/VGC10 can be controlled independently:

- Channel A is controlled by register 0x0000
- Channel B is controlled by register 0x0001
- When one channel releases, the pump continues running if the other channel still requires vacuum

---

## 8. Version Information

| Item                              | Value                      |
| --------------------------------- | -------------------------- |
| Based on document version         | Connectivity Guide v1.23.0 |
| Applicable devices                | VG10, VGC10                |
| Minimum firmware version (115200 bps) | v2.0.3                 |
| Communication protocol            | Modbus RTU (RS485)         |

---

## 9. Safety Notes

- Do not exceed 80% target vacuum
- Do not exceed 1000 mA current limit
- Use this interface only with sufficient integration experience
- Always read the device operating instructions before use
- Improper use may damage the device and void the warranty

3. Invoke the skill in IDE​

In IDE Chat, run:

/dobot-plus

The agent follows the steps in SKILL.md automatically:

  1. Parse doc.md and break it down into atomic function items
  2. Generate and validate function.json
  3. Generate scaffold code for Lua scripts, HTTP APIs, block configs, UI pages, and more
  4. Prompt you to run dpt build to produce the final plugin package

skill demo

Troubleshooting​

Skill not recognized by IDE​

Verify that the skill is installed at ~/agents/skills/dobot-plus/SKILL.md and that Agent Skills are enabled in IDE settings.

Missing doc.md​

The skill does not create or modify doc.md. Prepare a complete device specification in the project root before invoking /dobot-plus.