[rshanor]

Hi,

I am using the PythonAPI to control the robot using online programming using the kukabridge driver.

I am trying to implement a function to pause the robot when a user opens a door connected to a digital input.

Process 1 is commanding the robot as usual.

Process 2 is reading DI1 and calling robot.pause or setting other parameters as necessary.

I am having two problems here, and not sure if they are related.

First, reading the digital input in a look seems to mess up the robot driver somehow. If I am running the following code in process 2, I get a bunch of TargetReachErrors which I have not seen in any other circumstances.

Code:

while True:
print(robot.setParam("Driver", "GET $IN[1]"))
time.sleep(0.2)

Second, none of the other DI API calls like waitDI or getDI seem to work for me. You could imagine a better implementation of the loop above just waiting for a signal.

Looks like some other people have had issues related to this API://www.sinclairbody.com/forum/Thread-getDI-io...UKA-driver

[Dmitry]

Hi Rick,
Let's start figuring out what the problem is.
First of all, we need to run thekukabridgedriver in interactive mode:

Code:

user@ubuntu:~$ cd ~/RoboDK/bin
user@ubuntu:~/RoboDK/bin$ export LD_LIBRARY_PATH="$(pwd)/lib"
user@ubuntu:~/RoboDK/bin$ ./kukabridge

Nowkukabridgeshould be ready to execute commands. Let's check this with theOPTIONcommand:

Code:

OPTION
SMS:Working...
reconnectLimit = -1
connectTimeout = 0
dataTimeout = 0
keepAliveInterval = 0
SMS:Ready

Connect to the robot with the commandCONNECT [port] [number_of_robot_axes]:

Code:

CONNECT 192.168.0.108 7000 6
SMS:Connecting
连接
SMS:Working...
SMS:Ready

Now we can query the value of a variable with the commandGET and set the new value with the commandSET :

Code:

GET $AXIS_ACT
SMS:Working...
RE:{E6AXIS: A1 0.0, A2 0.0, A3 0.0, A4 0.0, A5 0.0, A6 0.0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}
SMS:Ready

SET $OV_PRO 25
SMS:Working...
RE:OK
SMS:Ready

GET $OV_PRO
SMS:Working...
RE:25
SMS:Ready

Now let's check the operation of the digital input status query command,GETDI :

Code:

GETDI 1
SMS:Working...
RE:FALSE
SMS:Ready

GETDI 1is equivalent to the commandGET $IN[1]

Next, we need to make sure that you are using the latest version of KRL program (RoboDKsync543.src).
You can find it in the archive at://www.sinclairbody.com/doc/drivers/Connect-K...RoboDK.zip
In addition, thekukabridgecan automatically upload the program into your control system.
In this case, you need to delete yourRoboDKsync???.srcfile from the control system beforehand so that thekukabridgewill definitely write the correct version. Use the commandCONFIGURE [FORCE](be careful with theFORCEoption, it will cause the$config.datfile to be automatically modified):

Code:

CONFIGURE
SMS:Working...
Requesting robot program state
Current robot program state is #P_FREE
Reading current configuration ($config.dat)
Read complete, updating configuration
Configuration requires no updates
Checking existence of program file (RoboDKsync543.src)
Program file does not exists
Writing program file to robot system
Configuration is complete
SMS:Ready

Now check the commandWAITDI .
For example, if we expectTRUEoninput 1, the command will be written as:WAITDI 1 1, and if we expectFALSE, it will be written as:WAITDI 1 0:

Code:

WAITDI 1 0
SMS:Working...
SMS:Ready

Please perform the above steps and tell us about your results.

Best regards,
Dmitry.

[rshanor]

Thanks Dmitry, I will try this out when I get a chance, probably next week.