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Command execution timing and Real-time movement feedpack

#1
Hi everyone, 

I am currently using the KUKA KR70 R2100 model, and according to the documentation provided by RoboDK, I am using the kukabridge driver in RoboDK, and th eC3Bridge and RoboDKsync562.src in the KUKA robot controller.

What I am curious about is when I continuosly generate the 'MoveJ()' command at intervals of 0.001 seconds in RoboDK api server and send it to the KUKA robot for execution. The KUKA robot converts the 'MoveJ()' to a PTP command and executes it. After completing the movenment, it will execute the next command. I want to know at what point in time the 'MoveJ()' command is executed.

For example, if I send commands in sequence like MoveJ(a),  MoveJ(b)  MoveJ©  MoveJ(d).... from RoboDK to the KUKA robot, and the robot completes the movement for command MoveJ(a). If the next incoming command is 'MoveJ(d)' right after completing command MoveJ(a), I want to know wheter the robot executes command MoveJ(b) (the next in sequence) or MoveJ(d).

Secondly, I am curious if I can receive real-time feedback on whether the KUKA robot is moving or not while communicating with it using the RoboDK API. For instance, I would like to receive a message indicating that the robot is moving when it is executing the movement for a 'MoveJ()' command I sent. Similarly, I would like to receive a message indicating that the robot is not moving when it is not executing any movement.

Thank you for your hlep!
  




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