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C3 Bridge Interface Server

  • Greetings everyone.

    I'd like you to meet the project that I've been working on for the last six months.

    It's called the C3 Bridge Interface.

    The C3 Bridge Interface Server is a lightweight network application that allows remote clients to execute requests to the KUKA Cross 3 subsystem and return responses. The application provides advanced functionality and high performance.

    Some distinctive features

    • Well-documented application protocol. It is fully compatible with KukavarProxy protocol, which means that existing client solutions (RoboDK, ROS) can be used.
    • Executes more functions of the KUKA Cross 3 subsystem (in the future I hope to implement all available functions).
    • Controls the execution of a KRL program (you can start/stop/reset your program).
    • High performance. The software is written in C++ and can be compiled using both modern development tools and development tools of the past years (like Visual C++ 6.0).
    • It does not require additional software libraries to be installed in the control system.
    • It starts minimized to tray and does not take up any space on the screen.
    • There are no limits on the number of simultaneous network connections and idle time.
    • The Discovery Protocol for easy identification of the control system in the network.

    Notes

    To confirm the correctness of the created software product functioning, the C3 Control Panel application was developed.

    It allows displaying coordinates of the robot's current position and controlling the movement of individual axes.

    Work on both programs is carried out in parallel.

    Increasing the functionality of the C3 Bridge Interface Server requires the addition of verification functions to the control panel.

    Unfortunately, I am not ready to publish the C3 Control Panel at this stage because of its primitive and debug oriented nature.

    Protocol Specification

    You can download the application protocol specification from the repository here: https://github.com/ulsu-tech/c…face%20Protocol%201.1.pdf

    Download Links

    The main repository: https://github.com/ulsu-tech/c3bridge-server

    Binary (v1.0, Unicode, for Windows 7 or newer): https://github.com/ulsu-tech/c…oad/v1.0/C3Bridge.1.0.zip

    Binary (v1.0, ANSI, for Windows 95 or newer): https://github.com/ulsu-tech/c…1.0/C3Bridge.1.0.ANSI.zip

    License

    The software is licensed under the 3-clause BSD license.

    The full text of the license is available in the repository: https://github.com/ulsu-tech/c…erver/blob/master/LICENSE

    Project Support

    I'm not sure if I can leave a donation link here.

    If you find this project useful, you can thank me with a donation.

    All necessary links can be found in the README.md file and on the home page of the repository.

    I would also be happy to receive your wishes and comments of any kind.


    Best regards,

    Dmitry Lavygin

    PhD, Senior Researcher

    S.P. Kapitsa Research Institute of Technology, Ulyanovsk State University, Russian Federation

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  • massula

    Approved the thread.
  • VDm

    Hi

    I am currently developing a program (python script) that reads g code and sends it as commands to a Kuka Robot . On the robot side, I use kukavarproxy. On the other hand, the same script synchronously reads from the g code the commands for control of the spindle, cooling and manages them through the USB port. Other external devices can be added. In other words, it is not necessary to send commands to the robot, which in turn sends them to an external controller.

    I have had a robot for two months and I am still a beginner in this field.

    Today I saw your project and I will test the possibilities using a python.

    I will be happy if I can assist in the development or testing of your project.


    Best regards

    Pipo

    Edited once, last by pipo ().

  • Today I saw your project and I will test the possibilities using a python.

    I will be happy if I can assist in the development or testing of your project.

    Nice. You can try to replace KukavarProxy with C3 Bridge Interface. It's fully compatible.



    does your software meets the requirements of "SPOC"?

    Do you mean Single Point of Control? No, I don't think so. Like the KukavarProxy, my software allows for simultaneous connection of several network clients.

  • VDm

    Hi

    on the kukavarproxy is "debug" option where I can see all IN/OUT traffic. Is there (C3Bridge) some equivalent functionality?

    When start i see only messages for connection options on C3Bridge window.

    With openshowvar and my Python script I connected sucsesfully with C3Bridge.

    Can You share C3 Control Panel .

    It does not matter at what stage of development C3 is, the main goal is tests.


    I will add new functionalities to my Python project, according to the capabilities of C3 and I will send you the test results.

    Greetings!

    Pipo

  • on the kukavarproxy is "debug" option where I can see all IN/OUT traffic. Is there (C3Bridge) some equivalent functionality?

    When start i see only messages for connection options on C3Bridge window.

    No, the C3 Bridge Interface does not have this feature. It was designed for very frequent requests. This would inevitably lead to a log overflow in a matter of seconds.


    Can You share C3 Control Panel .

    Unfortunately, no. I am working hard on this software and maybe in the future I will release a freeware version.

  • C3 Control Panel

    The C3 Control Panel is an application to remotely control KUKA robots via the C3 Bridge Interface Server or KUKAVARPROXY.

    Features

    • KRL Variable Control
    • Variable Watch List
    • Actual Position Display
    • Jog, the manual control of robot movement (EXPERIMENTAL)

    System Requirements

    • Windows XP SP3 or later
    • DirectX 9.0c
    • Xbox 360 Controller Driver for Windows (optional)

    Screenshots

    Actual Position

    actual_position.png

    Watch List

    watch_list.png

    Jog

    jog.png

    Download Links

    Repository (license information only): https://github.com/ulsu-tech/c3bridge-client

    Binary (Windows XP or later): https://github.com/ulsu-tech/c…v1.0/C3.Control.Panel.zip

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