hi,
I would like to know how to write instructions to receive 6 axis data when KUKA is moving PTP or LIN or CIRC.
I can write code with C++ in PC to communicate with KUKA by TCP/IP and get the 6 axis data by XML strings. Howerve, if I use KCP to set points and make KUKA execute PTP motion, I can not receive the 6 axis data from PC. I know when I using KCP to set point, the code in KUKA to connect with PC and receive/send data to PC is not used, so I am sure the PC can not receive data. But the question is how I can receive data when I using KCP ?
At last, I found a way by add code in sps.sub file. But, I do not know how to write the instructions completely. I assume if I should write some instructions to create a connection with PC firstly, then write some constructions to command KUKA to send data to PC in some way such as send XML strings by TCP/IP ?
Actually, If anyone can give me some materials about KRL will very helpful. I have only some programming in KUKA_XML and KUKA system variables.
MY KUKA style is KUKA_16-2 and KCP2, KRC version is 5.6.10.
Thank you in advance.
how to get data by add code in sps.sub file
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jane3von -
September 27, 2013 at 4:54 AM -
Thread is marked as Resolved.
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You are using the KRL-XML option package, correct?
I'm not sure KRl-XML can be used from the SPS -- I've never tried it myself, but from what I recall, other people have and found that the SPS would not execute KRL-XML commands.
I do not understand your problem, however -- if you establish KRL-XML communications, and the PC server is running, the communications should work regardless of the mode (T1, T2, AUT, EXT) that the robot is in. Can you explain more clearly?
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You are using the KRL-XML option package, correct?I'm not sure KRl-XML can be used from the SPS -- I've never tried it myself, but from what I recall, other people have and found that the SPS would not execute KRL-XML commands.
I do not understand your problem, however -- if you establish KRL-XML communications, and the PC server is running, the communications should work regardless of the mode (T1, T2, AUT, EXT) that the robot is in. Can you explain more clearly?
I have established KRL-XML communications, and the PC server is running in AUT mode. But, if I use KUKA Control Panel to set PTP or LIN command in T1 or T2 mode, then I can sure the way of KRL-XML communication with the PC server can not work.It's like the KUKA is disconnected with the PC server, then the PC server can not receive the axis data from KUKA.
So my problem is how to get the data when using KCP to execute the PTP or LIN motion commands?
I know if I add some instructions in SPS file I can get the axis data when KUKA is running because the SPS file is system file and can running all the time when KUKA execute any instructions. But I don't know how to write the instructions and I know KRl-XML can not used in SPS.
So I hope anyone can help me write instructions in SPS.
Thanks! -
I still don't understand. The KRL-XML communications should work regardless of the robot's mode: T1, T2, AUT, EXT.
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Hi,
I am new to this forum, but i got stuck somewhere using EKX.
Actually i am using XML package and successfully can transfer XML strings to Robot with my own server Application.But now I want to jog the Robot with my server application. I know this can be done with some Instructions in the src file ,but How? Any Ideas........... -
Hi,
I am new to this forum, but i got stuck somewhere using EKX.
Actually i am using XML package and successfully can transfer XML strings to Robot with my own server Application.But now I want to jog the Robot with my server application. I know this can be done with some Instructions in the src file ,but How? Any Ideas...........Hi,
you can set you robot's velocity in you src file, such as set velocity value velocity=50%, it can slow down you robot in half and remember the value form [0,1] and must be decimal.You can write the code as following:
errbl = EKX_GetRealElement(0, "RobotShootSensor.ExternalData.VelCP", velocity, bNew)You can find the function EKX_GetRealElement() in KUKA_Ethernet_KRLXML_11_en.pdf and in the XML configure file you also need to add this RobotShootSensor.ExternalData.VelCP for velocity.
I hope it can help you !
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Thanks jane3von for your reply,but in the mean time before your reply i moved one step ahead. i made a vb program and used crosscomm.cls to communicate with cross3.exe and successfully read and write the variables but still there is no option to move the robot. I just don't want to use src program. there is an active x control called cross.ocx,which has the "move" property but i was not able to get the document for it.i was not able to even initialize it in my vb program.Any ideas?