How to develop external modules in KSS 8.2-KRC4

  • Hi,


    CREAD/CWRITE documentation says that we can develop external modules and use them for reading/writing.


    Can you please tell me how can we develop external modules for KUKA controller?


    Any examples?

  • you can use cread and cwrite to write anything you want into a file, like robot pos, status, and variables values.
    since the krc 4 is in fact windows based systems, you can write a .net or any other application, and run it, which in return can read and write to the file.


    i think some hack to the system will be necessary, but what you want to do, so i can direct you to a way to do it.

  • the Docs says the external modules is some Drivers, I think some *.o files that need to have some VxWorks development experience .

    KUKA Conntroller : _________<br />KSS Software : ____________ <br />Robot Model: _____________

  • Zeev,


    This is related to http://www.robot-forum.com/rob…nates-to-kuka-robot-krc4/


    I want to transfer coordinates from external-PC to KUKA controller. I'm aware that KUKA-XML-Ethernet can be used transfer the coordinates. However, its too costly for us and I want to know if there is some other way to achieve the same.


    Basically we are implementing a Vision-Based inspection solution and the sequence of steps we plan to follow are


    1) Read coordinates using a camera.
    2) Convert them into world coordinates.
    3) Write these coordinates to the .dat file.
    4) Run the program using the updated coordinates.


    I observed that the robot program doesn't read the new coordinates. We were asked to restart the Submit-interpreter for the robot to read the new co-ordinates. And this worked. But I want to know if this can be done without restarting the submit interpreter?


    What are the possible ways to solve the above problem?


    I'm currently trying to use JOpenShowVar for the above application.
    In the post listed above other members have suggested using CREAD/CWRITE to do the same but it seems like a external module needs to be developed. I have no prior experience in developing such module but will attempt if i can get more details on the same.



    Thanks,
    Madhu

  • as i wrote before.


    you can do it with a plc which you can read and write to it, i using Siemmens S7 with a small program that i develop for reading and writing values to it.


    the other way is to read and write to a file in a shared folder, and get values from them.


    if you exprianced in .NET development or JAVA, it's not should be a large program.


    if you have no expirance as a programmer, then there is no other way then to buy KUKA.XML.ETH and try to lower the price with the sales man.

  • Hi there

    i'm also trying to develop external modules for comunication with kuka controller but have no clue on how to create an .o file (and what kind of information if will carry)


    Did anyone find a solution?


    Thank you very much

  • Hi there

    i'm also trying to develop external modules for comunication with kuka controller but have no clue on how to create an .o file (and what kind of information if will carry)

    ....

    For developing external modules You will need the VXworks development toolchain, and internal informations from KUKA.

    Think it will be expensive, and You will need a long time to learn the VXWorks things. May be You will never get the internal informations from KUKA.

Advertising from our partners