MD_CMD detailed description

    Hi guys,


    Can anybody tell me where I can find MD_CMD function description for KUKA ?

    Uncle google have no tips for that and pointing out this forum.

    However, I barely found what I would like via search function.

    Only some posts have the "MD_CMD" inside but without detailed information.

    What I am looking for is detail description of MD_CMD options like:

    DEV_NAME

    CMD_STRING

    INT_PARAMREAL_PARAM


    What they means exactly ?

    How many options we have for each ?

    Some examples of usage are available ?


    I let myself to put below short md_cmd description taken from here Kuka (possibly) complete list of functions and subprograms

    (function) INT MD_CMD (CHAR DEV_NAME[39] :IN, CHAR CMD_STRING[64] :IN, INT

    INT_PARAM[16] :OUT, REAL REAL_PARAM[16] :OUT) ;EXECUTE MOTION DRIVER

    COMMAND


    Many thanks in advance for support.


    atb/daro

    Why? What do you want to achieve?


    MD_CMD is a generic motion driver command. Each driver implements its own commands only suitable for this specific driver. Drivers itself a loaded by adding them into the motiondrv.ini files. Also drivers must be VxWorks downloadable kernel modules implementing the Kuka external motion driver interface. This specification is kuka internal secret knowledge.


    Fubini

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