kuka live communication with python

robotics_Cat_1242 · April 3, 2023 at 12:07 PM

Hello,

I'm trying to control a Kuka robotic arm KR 10, using a 3D spacemouse. I found somebody that made did a similar project. He made a Matlab client that should be run on the kuka side to communicate with the python script. He installed the client using kuka sunrise, I work with workvisual, and understand that you can't simply use the sunrise software. Does anybody know how I install the package onto the kuka using workvisual?

link to GitHub repository for the sunrise toolbox client: https://github.com/Modi1987/KST-K…al_noFlange_LTS

link to youtube where he explains how to upload it to the kuka:

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If people know alternatives I'm happy to hear as well.

hermann · April 3, 2023 at 1:03 PM

That project is for the LBR robot, the controller is a sunrise controller, that's completely different from KRC controller. They use Java for programming the robot.

Did you ever see a Java program on your KRC?

You can't use that project on your KRC not with Sunrise Workbench, and not with Workvisual .

You must build your own project.

**SkyeFire** · April 4, 2023 at 4:50 PM

The closest equivalent for a non-iiWA robot is this:

KUKA Control Toolbox (KCT)

Download KUKA Control Toolbox (KCT) for free. The KUKA Control Toolbox (KCT) is a collection of MATLAB functions developed at the University of Siena, for…

sourceforge.net

However, this requires having the RSI option package installed on the KRC, IIRC. And/or EthernetKRLXML.

**panic mode** · April 4, 2023 at 5:22 PM

Thread

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.

robot-forum.com/attachment/27492/

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

…

VDm

August 21, 2020 at 12:27 PM

HansHerbert_99 · April 4, 2024 at 9:07 AM Best Answer

KUKA has now also an official python interface. It works via the latest mxAutomation V3.3.

-> Ask the CS for the latest mxAutomation Python library: CustomerService@kuka.com

Control a KUKA industrial robot via the new python library in 6 steps:

1. Install mxAutomation via WorkVisual by drag and drop

2. Ask KUKA for the latest mxAutomation Python library.

3. Open some socket communication to the KLI (KUKA Line Interface), Port 1336

4. Process the received answer from the KUKA robot, with the class “KRC_ReadAxisGroup” of the mxAutomation python library.

5. Now you can already receive position data, via the class “KRC_ReadActualAxisPosition”

6. And you can move the Robot

Here an outtake of an small application:

Code

# -------- STEP 20 - KRC_MOVEAXISABSOLUTE   ------------

    _mxA_KRC_MOVEAXISABSOLUTE.AXISGROUPIDX = _axisGroupIdx
    _mxA_KRC_MOVEAXISABSOLUTE.BUFFERMODE = 2
    _mxA_KRC_MOVEAXISABSOLUTE.VELOCITY = 50 # %
    _mxA_KRC_MOVEAXISABSOLUTE.APPROXIMATE = APO_parameter
    _mxA_KRC_MOVEAXISABSOLUTE.AXISPOSITION = axis_target_pos_1
   
    if test_step == 20 :   
        _mxA_KRC_MOVEAXISABSOLUTE.EXECUTECMD = True
        print("Move Axis Absolute Busy: " , _mxA_KRC_MOVEAXISABSOLUTE.BUSY , " Active: ",  _mxA_KRC_MOVEAXISABSOLUTE._ACTIVE, " Done ", _mxA_KRC_MOVEAXISABSOLUTE._DONE , " Error ", _mxA_KRC_MOVEAXISABSOLUTE.ERROR , _mxA_KRC_MOVEAXISABSOLUTE.ERRORID)
    

    if test_step == 20 and _mxA_KRC_MOVEAXISABSOLUTE.DONE and round(_mxA_KRC_MOVEAXISABSOLUTE.AXISPOSITION.A1,1) == round(_mxA_READACTUALAXISPOSITION.A1,1) and NextStep  :
        test_step = 30
        _mxA_KRC_MOVEAXISABSOLUTE.EXECUTECMD = False


    if _mxA_KRC_MOVEAXISABSOLUTE.ERROR:
        print("move error id" , _mxA_KRC_MOVEAXISABSOLUTE.ERRORID )
        raise Exception("Error in Step " , test_step )


# -------- STEP 30 - KRC_MOVEAXISABSOLUTE_2 second call   ------------
    _mxA_KRC_MOVEAXISABSOLUTE_2.AXISGROUPIDX = _axisGroupIdx
    _mxA_KRC_MOVEAXISABSOLUTE_2.BUFFERMODE = 2
    _mxA_KRC_MOVEAXISABSOLUTE_2.VELOCITY = 50 # %
    _mxA_KRC_MOVEAXISABSOLUTE_2.APPROXIMATE = APO_parameter
    _mxA_KRC_MOVEAXISABSOLUTE_2.AXISPOSITION = axis_target_pos_2
   
    if test_step == 30 :   
        _mxA_KRC_MOVEAXISABSOLUTE_2.EXECUTECMD = True
        print("Move Axis Absolute Busy: " , _mxA_KRC_MOVEAXISABSOLUTE_2.BUSY , " Active: ",  _mxA_KRC_MOVEAXISABSOLUTE_2._ACTIVE, " Done ", _mxA_KRC_MOVEAXISABSOLUTE_2._DONE , " Error ", _mxA_KRC_MOVEAXISABSOLUTE_2.ERROR , _mxA_KRC_MOVEAXISABSOLUTE_2.ERRORID)
    

    if test_step == 30 and _mxA_KRC_MOVEAXISABSOLUTE_2.DONE and round(_mxA_KRC_MOVEAXISABSOLUTE_2.AXISPOSITION.A1,1) == round(_mxA_READACTUALAXISPOSITION.A1,1) and NextStep  :
        test_step = 40
        _mxA_KRC_MOVEAXISABSOLUTE_2.EXECUTECMD = False

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kuka live communication with python

MOM April 3, 2023 at 12:23 PM

C3 Bridge Interface Server

Some distinctive features

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