Posts by ShahZaib

Thank you for the update panic mode and SkyeFire . This is an old robot which is used by the other branch of my company. I am waiting for the gripping pad and when it will come I will test these suggestions. Thanks once again

Hi,

This is my beckhoff and I think everything is mapped here. Now, I want to know how can I send a 24V signal to my gripping pad to activate and grip things?

Hi,

I have looked at the KUKA KRC4 orange and we have beckhoff EL1809 and EL2809.

How can I send a singal to beckhoff from KUKA KRL? I don't know if my question make sense.

Hello guys,

I am new to this forum and I have searched alot about my situation but I did not find any suitable result, answer or some information on manual about it.

So the situation is like that:

I want to activate my gripping pad with the help of kuka KRC4. These pads are activated through a digital signal and as of I know this signal is generated via X12 connector. My KUKA KRC4 is orange one and it has X51, X13 connectors and I did not find any X12 connector. X11 is already attached as safetyOp. I want to to know how can I activate my gripping pad in this situation. In my KUKA KRC4 manual I found information regarding only X11 connector.

Any kind of help will be appreciated . Thanks in advance.

Regards,

Shahzaib

Because this $FLAG[2] is the XML message I will get from python server. as long as I do not recieve the XML messahe the program will wait for $FLAG[2].

How can I check the value of RET after the EKI_GetBool?

My previous code was in that order:

1. Wait for Flag

2. EKI_Get

3. EKI_ClearBuffer

4. Flag=False

But I did not achieve the expected results.

Hello SkyeFire,

The code is working but the thing is MY_ACK == TRUE. This command is always true. Even I send a XML message form my python code server which is false it will take MY_ACK == TRUE and movee tot he position defined.

Again, I send a XML message from python server and I want to know how can I combine this XML python message with the KUKA KRL IF command. I hope you can understand my question. Thanks in advance.

GLOBAL DEF C3D_CHECK( )
  WAIT SEC 0
  $FLAG[2]=FALSE
  ;>>>> Senden von CHECK 
  RET = EKI_SetString("AICON","ROBOT/COMMAND","CHECK")
  RET = EKI_Send("AICON","ROBOT")
  ;>>>> Warte auf ein Acknowledge des Sensors
  MY_ACK=FALSE
  RET = EKI_ClearBuffer("AICON","SENSOR/ACK")
  RET = EKI_GetBool("AICON","SENSOR/ACK",MY_ACK)
  WAIT FOR $FLAG[2]
  IF MY_ACK == TRUE THEN
    PTP {A1 -2.42093611,A2 -93.6341705,A3 95.3412323,A4 1.61594605,A5 86.2668762,A6 -32.8903389}
  ELSE
    PTP {A1 -1,A2 -80,A3 4,A4 1,A5 86,A6 -32}
  ENDIF
  $FLAG[2]=FALSE
END

This is the part of my code which I am talking about. I wait for $FLAG[2] and server will send a message to kuka krl . If the server sends a XML message containing TRUE then the Robot should move right else left

Hello guys,

I am woking with kuka robot and I have developed a connection between kuka as client and computer as server via KUKA KLI interface. I am sending and receiving messages to and from kuka. The question is:

1) I want to put conditional (IF statement) in KUKA KRL. I want to make the robot move left when the python program send FALSE message as in xml format to robot and I want to turn right if I receieve TRUE message from python.

Is there is a possible way to do it. I am stuck in this problram for almost 2 weeks now. Any kind of help will be appereciated.

Best regards