KUKA robots
The next steps are to manually set up the main program that will handle the robot movements:
1.Add the declaration of the following global variables:
To do so, locate and modify the file “KRC:\R1\SYSTEM\$CONFIG.DAT” via KUKA HMI. The folder “KRC:\R1\” can also be accessed from theC:\drive at the following Windows path: “C:\KRC\ROBOTER\KRC\”.
INT COM_ACTION=0
INT COM_ACTCNT=0
REAL COM_ROUNDM=0
REAL COM_VALUE1=0
REAL COM_VALUE2=0
REAL COM_VALUE3=0
REAL COM_VALUE4=0
DECL E6AXIS COM_E6AXIS
DECL FRAME COM_FRAME
DECL POS COM_POS
DECL E6POS COM_E6POS
2.Copy the KUKA SRC programRoboDKsyncVER.srcto the folderKRC\R1\PROGRAM. TheVERsuffix in the file name denotes the version of the program (for example,RoboDKsync543.src).
3.Manually start theRoboDKsyncVER.srcprogram to make the robot listen for commands coming from the computer.
If theRoboDKsyncVER.srcprogram is not running, RoboDK will still be able to read the robot joints if the C3 Bridge Server is running in the robot controller.