Hi,
I am having a similar problem. I am struggling how to access a global integer variable from within a python script.
Thanks in advance.
Is your goal to simulate something like mxAutomation or PLC I/O? I'm just curious.
I personally have not had much luck using the inline python scripts in Kuka sim (like where you would have the KRL of the robot, but python instead).
What i have had some success with is using:
If $IN[1025] THEN
..CODE THAT YOU ONLY WANT TO EXECUTE ON THE KR C...
ELSE
..THIS IS WHAT WILL RUN IN THE SIMULATION
ENDIF
$IN[1025] is true in the KR C but false in the simulator.
Thank you for your answer.
The idea is to simulate a PLC with the python script to send a job number to the robot.
I don't know enough about what your specifically doing obviously, but the nice thing about the SIM is your worst case can just be to change a global variable to be what your job number is.
A quick ish glance at the Python API looks like you can use the vxBooleanSignalMap to allow your python script to decide values of signals that your robot can map to a different value that your "real world" controller will read.
I'm trying to say you can have a signal in your config file that makes it operate as you normally do. Now in your sim version, have a different signal, and this signal can be mapped to your python script?
I have not exactly done what you need, but something similar.
Robot writes the position for the gripper in the $OUT signals.
This was defined as a variable in the SimPro Interface. and my python script was reading the input of the variables and was setting the required position of the gripper. And vice versa was done to read the status of the gripper from robot.
I donot have Simpro license to exactly explain what and where it was done.
When I was doing it I was referring to the training material from Visual components to do it.
May be check their site and see if it helps.
I'm not sure it's possible to set robot inputs from inside a Python script. To be honest, I haven't tried.
My first thought is to try wiring robot outputs to robot inputs, then control the robot outputs from the Python script. A bit hacky, but I don't see any reason it wouldn't work.
I am using KukaSIM ...
i think you really should start by providing some details...
Which KukaSim?
Which Version?
How do you plan on modifying data? By processing SRC or DAT files? That can be done offline...
If you are interested in doing do online (by communicating with live system), where is the code executed? In OL or in OPS or in Sim?
What kind of interface you are trying to use? Some specific API or one of servers?
Where is the python code you are trying to use?
I'm not sure it's possible to set robot inputs from inside a Python script. To be honest, I haven't tried.
My first thought is to try wiring robot outputs to robot inputs, then control the robot outputs from the Python script. A bit hacky, but I don't see any reason it wouldn't work.
Reading and Writing KUKA IO from Python script is possible, atleast with Office PC / Office Lite.
But this requires additional interfaces like Y200 or VRC.
The signals set by the robot can be read from the variables defined in simulation and vice versa can be done to send signals to KUKA.
