Posts by Varun Kumar

Hi MOM Could you send a link to VRC-Interface please, just so I know I am looking at the right one? have you had any experience in exposing the KRL I/Os and variables from kuka.som to "VRC-Interface" - was it straightforward to use?

Hello

I am currently using kuka.sim 4.3 and have a KRL project imported. The KRL programs seem to run in kuka.sim when selected and executed individually.

There is a cell.src script which seems to look for an external controller (possibly a PLC) to give a PG.NO to run

Question : Is it possible to expose KRL variables in a KRL program to a python script for a component and also modify it during simulation (or) connect to the signals in the config.dat and read its output in a python script.

It would be great to be able to read and write to KRL variables from a python script. in the case below the PGNO variable inside of getting it from L83.

Could anyone provide an example to read and write to a KRL variable in a KRL program via a python script please? or if its even possible?

Thanks in advance

Thanks for the reply, really appreciate. I see vcComponent has a findBehaviour to get the "Tool" property in the robot but how do I access the actual name of the tool mounted

Could you give an example script that works in kuka.sim if possible?

Hello
I am currently using kuka.sim 4.3

Is possible to access the name and print out the current tool mounted on the robot through the python script in the modelling tab. Could anyone please help with a demo script for it in kuka.sim - ideally to get the robot component and the current tool its mounted during the simulation running and if there is no tool attached to display None.

Link to setupimage -
image.png

Ideally, Want to expose this tool as a String property in the python program and then via opcua to an external system.
Any help will be appreciated

Thank you

Hi Chris

Thanks for your reply

I couldn't find a Operate.dat in the project

The given project has a few other .dat files, tried adding the dec to those .dat EXTFCTP BOOL ISMESSAGESET(INT MESSAGENO :IN) didnt fix it.

Image :

FileStructure.JPG

Hello

I am trying to import an old KUKA KRL project into KUKA.Sim 4.3. I am running the simulation with a base calibration program, but get an error in the output log as below

KR 180 R3500 ultra K (integrated): The function 'ISMESSAGESET' could not be found.

Can anyone with either KUKA.Sim or KRL experience please share how to fix the error.

Thanks.

Ah I see,

Would you know of anyway of streaming the robot joint angles from kuka sim generally? Any plugins/add-ons/connection tricks etc.

I have seen VisualComponents can have a OnRun function and much more than kuka sim but sadly there is no trial version that I can find

Hi work_BR

Your right, I tried that and now I can get the joint angles of the robot and print it in the output pane.

example output for code below

Component Name: KR 120 R3900 ultra K

A1: 11.3650071804

A2: -87.1914081235

A3: 116.352129322

A4: -132.080010476

A5: 31.0367524825

A6: 135.643897763

But I want the script to run (loop) constantly which the simulation is running (i.e when the robot is moving).

Currently I have to manually execute the script each time to read the current joint angles.

from vcHelpers.Robot2 import *
from vcHelpers.Selection import *
from vcCommand import *
import time

app = getApplication()
cmd = getCommand()

def OnStart():
    rou = app.TeachContext.ActiveRoutine
    if not rou:
        print('No robot selected.')
        return
    first_state()

def first_state():
    comps = getSelectedComponents()
    for c in comps:
        print("Component Name: %s" % c.Name)
        for i in range(1, 7):  # Loop from A1 to A6
            node_name = 'A' + str(i)
            node = c.findNode(node_name)
            if node:
                print("%s: %s" % (node_name, node.Dof.VALUE))
            else:
                print("Node %s not found in component %s" % (node_name, c.Name))

As far as I checked it seems like KukaSIM does not support OnRun() function? I may be wrong.

Could anyone help out?

Hello

I am new to the VC community and KukaSim.

I have a Kuka robot in my workspace and wanted to know how I can have a python program to get the joint angles of the robot selected.

The joint angles are show with sliders on the robot tab on the left when robot is selected

Hoping to output the joint angles constantly as the robot moves

Could you help in pointing to what python methods are available and how to access it