June 26, 2019, 06:50:53 PM
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 Send text through Ethernet KRL to control robots

normal_post Author Topic:  Send text through Ethernet KRL to control robots  (Read 195 times)

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June 11, 2019, 02:21:21 AM
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Hello all,

Our customer wants to connect KRC4 and their own controller using TCP. I would like to know if the stated below is possible. If yes, I will be very appreciated for pointing out which documents I should go through...I have been looking for a while.

What they need is to control the robot 'on the fly'...that is they can update the program stored in the controller like the following,
1. Send a circular motion from their own controller in text like "CIRC Auxiliary point, End point<, CA Circular angle> <Approximate positioning>"
2. After the above has been done, send a linear motion from their own controller in text like "LIN End point <CP approximation>"

There will be a C# program sending TCP on their controller.
« Last Edit: June 11, 2019, 02:23:55 AM by CasparKo »

Today at 06:50:53 PM
Reply #1



June 11, 2019, 03:37:26 AM
Reply #1

panic mode

Global Moderator
since you are asking if this is possible, i suspect you have no Kuka experience yet. you need to know quite a bit to get this working.
1) http://www.robot-forum.com/robotforum/kuka-robot-forum/read-first/
2) if you want reply about robot, post it in forum
3) read 1 and 2

June 11, 2019, 06:27:12 AM
Reply #2


It should be possible with CREAD/CWRITE function.

June 11, 2019, 03:38:59 PM
Reply #3


Global Moderator
No, you can't rewrite the program on the fly.  That would require using the DirLoader, which has some very specific limitations.

You can, using EKI, receive arguments that can be used to control how the program inside the controller branches and executes.  So while you can't send the robot "PTP {X 100}" over EKI, you could have a program with the PTP command in place, and have it draw the X value from a variable that's been set via EKI over TCP/IP.

If you want realtime robot control, then you're getting into RSI territory, and all the control-theory problems involved.

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