KRL-XML

[rajang369]

Hello all,

I my previous post i had mentioned about the KRL-XML connection from the external PC using the file xmlapiconfig.xml file.
I tried my best to connect to the robot from external PC, using the sample program given by the Kuka, but it was of no use. So i had a small server-client socket program. I tried it and it worked i could send and receive messages from either sides.

Now my main aim is to move the robot remotely. So presently i do not understand how to using xml commands to move the robot from an external PC.  It would be great if someone could help me out with this problem.

Thank you
Rajan

[mookie]

eek.,

define moving the robot remotely...

you could send the positional data to the robot for the target position you would like, and have it go to there, but i dunno about you jogging the robot remotely

[SkyeFire]

There are no commands to control the robot via KRL-XML.  The best you can do is set up a program in the robot that loops continuously, checking for positional data coming over the XML link and moving the robot to those coordinates.

With RSI-XML you can come closer to controlling the robot in realtime, but you would still have to create an RSI module in the robot to receive in incoming positional data.

[rajang369]

Thank you very much for the replys,,,i'll try and keep you guys informed.

Regards
Rajan

[SkyeFire]

The program will have to be in KRL.  The robot doesn't run programs in XML, it just transceives data in XML format.

You should start with the test programs included with the KRL-XML package, in the DOC directory on the install CD (or on the copy of the install CD on the robot's D drive).

The basic pattern of the program would be something like:

Code:

WHILE KeepGoing
  GET(P1) ; call routine to get E6POS data for P1
  LIN P1
ENDWHILE

You'll have to write the GET routine to suit your specific application.  The example program should provide a reasonable skeleton to build from.

This will result in stop-and-go motion at every point, but this is a necessary first step before trying to get fancier.

[rajang369]

Hi skyefire,,,

I checked for the test programs,,,but i only have the documentation file in that folder, It would be great if you could send me those test programs, if you have them.....:)

regards
rajan

[SkyeFire]

...you just posted that you "finally got connected with the KUKA sample program."  That's the program I was talking about (although it's in the DEMO directory, not the DOC directory -- I messed up on that).  The demo program, as far as I recall, was already set up to send a POS or FRAME variable, so you've already got most of what you need. 

[rajang369]

Hi,

I would like to know if i can use variable in the place of constants,,,when defining the positions for the robot

i.e can i write the motion command in the following way

ptp {POS: x pos1, y pos2, z pos3, 10, 20, 30}

instead of  ptp{POS: x 10, y 13, z 14, 10, 20, 30}

Thank you
Regards
Rajan

[rajang369]

Hi all,

PTP P1 (move the robot to P1) P1 is a constant defined in the .DAT file
Now I receive new set of positions from  server program (TCP/IP communication, KRL-XML)
I want to move the robot to this new position, In this case can I define another position P2 and assign the received position to P2?


But KUKA manual says that P2 must be defined a  constant
So how do i achieve this functionality?
If possible please send me a sample code also,I hope this should do the needful

Thank you
Regards
Rajan

[SkyeFire]

KRL does not allow the use of variables inside {}.  So a E6POS variable has to be constructed one element at a time.  It's a weakness of KRL, sadly.

So, You would need to do something like this:

Code:

DECL E6POS Pos1 ; declare position variable
;....
;Call XML comm routine
;XML puts XYZABC data into variables X_in, Y_in, etc
;....
Pos1.X = X_in
Pos1.Y = Y_in
Pos1.Z = Z_in
Pos1.A = A_in ; rotation around Z
Pos1.B = B_in ; rotation around Y
Pos1.C = B_in ; rotation around X
PTP Pos1 ; move to Pos1

[optimus_prime]

Skyfire is correct, piecewise initialization helps.