The KUKA controller does not have a "built-in" interface to directly execute motion commands received thru the serial port. Therefor exists an optional software package called RSI, which works object oriented and in real-time using TCP/IP. However, it's quite complex, and somewhat dangerous since the robot instantly tries to go wherever you tell it to go. (...e.g. you must yourself take care of proper acceleration profiles, singularities, etc.).
If all you want to do is moving the robot from one position to another, there is what-so-ever a relatively simple method possible, using the serial port:
(...also one that doesn't require any additional kuka software packages)
You write a robot programm which permanently loops in a cycle where the serial port is polled for an incoming motion (...or any other command). The command structure you can define yourself anyhow you like it. Once a command string is received, you execute (e.g. using SWITCH...) the motion commands, commands for setting I/O's, or what ever you need for your application. As you define the serial command structure yourself, you are free to include in a motion command any number of additional parameters, e.g. velocity, motion type (ptp, lin), etc. The only thing to be aware of is, that the resulting moves won't be merged, so the robot will do one move after another. The current robot position or other informations (e.g. "motion complete") can of course be sent thru the serial port to your pc as well.
what's your robots software version?
peter
PS: If you don't want to write the krl code for interpreting serial commands yourself, i may write you the robot software according to your functional specifications.
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