[FG_Collins]

Hi all

I am using Python to send commands to the robot real-time (online programming). Everything works fine as I expect. What I want to do now is get an existing KUKA src/dat file and send the setting and actuation commands, that to works fine...except I am not a KRL person, I have figured out most of it but was wondering what the corresponding python commands to these lines mean...

Again I have figured out most of it except for example invoking the BAS argument functions (which I can see being called on the KUKA HMI.) In short is there ROBOT.SETPARAMETERS(parameters list here, values here)...which, by the way, I can write a small routine in Python if I new exactly what corresponds to what.

Tanks,
Fassil

$BWDSTART=FALSE

LDAT_ACT=LCPDAT7

FDAT_ACT=FP7

BAS(#CP_PARAMS,2)

LIN XP7 C_DIS C_DIS

;ENDFOLD



;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT

$BWDSTART = FALSE

PDAT_ACT=PDEFAULT

FDAT_ACT=FHOME

BAS (#PTP_PARAMS,100 )

$H_POS=XHOME
PTP XHOME

PS. I know LCPDAT7 = {VEL 2.00000,ACC 100.000,APO_DIST 100.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 50.0000,EXAX_IGN 0} from the .dat file.

so how isJERK_FAC 50.0000 set, for example?

---

Good morning Albert,

Thanks for the info. You may be right about the custom driver. The api is really fine except for a couple of commanding, like external axis definition, and the status & turn designation. I will see if I can work this out. Here, they use some Aerospace software to generate the .src files and I wanted to control the robots with the commands just as they have generated. I may need some help from a driver-developer with this. There are great programmers online posting nice codes all the time.

Thanks,
Fassil

STAY SAFE!