12-18-2024, 06:25 AM
Hello RoboDK Team,
I am currently using the RoboDK API to control a KUKA KR 70 R2100 with a KRC4 controller. While I can successfully send commands to the robot using the provided KUKA driver, I also need to retrieve internal controller variables (such as $POS_ACT, $STOPMESS, etc.).
I attempted to achieve this by using a separate custom client to connect to the KUKA controller’s c3bridge proxy server (port 7000), but I encountered conflicts when trying to run both the RoboDK KUKA driver and my custom client simultaneously. It appears that both are attempting to connect to the same port, causing compatibility issues.
To resolve this, I am considering integrating my custom client functionality into the existing KUKA driver that RoboDK provides. If possible, I would like to review and potentially modify the KUKA driver source code (“kukadriver”). Having access to this source code would allow me to merge the communication channels into a single connection, simplifying the process of reading controller data without needing external proxies or parallel connections.
Could you please provide guidance on the following points?
1. Is it possible to access or obtain the source code for the KUKA driver used by RoboDK?
2. If so, could you direct me to where I can find it, or provide the relevant files?
3. Once I have the driver source, are there any recommended steps or best practices for adding custom read commands (e.g., retrieving $POS_ACT) while maintaining full compatibility with the RoboDK API?
If granting access to the driver’s source code is not feasible, I’d appreciate any alternative methods to retrieve the robot’s TCP pose, joint angles, TCP acceleration, and speed data directly through the RoboDK Python API or other supported approaches. Any suggestions or guidance would be greatly helpful.
Thank you for your time and support.
Best regards,
Jaehong Yoo
I am currently using the RoboDK API to control a KUKA KR 70 R2100 with a KRC4 controller. While I can successfully send commands to the robot using the provided KUKA driver, I also need to retrieve internal controller variables (such as $POS_ACT, $STOPMESS, etc.).
I attempted to achieve this by using a separate custom client to connect to the KUKA controller’s c3bridge proxy server (port 7000), but I encountered conflicts when trying to run both the RoboDK KUKA driver and my custom client simultaneously. It appears that both are attempting to connect to the same port, causing compatibility issues.
To resolve this, I am considering integrating my custom client functionality into the existing KUKA driver that RoboDK provides. If possible, I would like to review and potentially modify the KUKA driver source code (“kukadriver”). Having access to this source code would allow me to merge the communication channels into a single connection, simplifying the process of reading controller data without needing external proxies or parallel connections.
Could you please provide guidance on the following points?
1. Is it possible to access or obtain the source code for the KUKA driver used by RoboDK?
2. If so, could you direct me to where I can find it, or provide the relevant files?
3. Once I have the driver source, are there any recommended steps or best practices for adding custom read commands (e.g., retrieving $POS_ACT) while maintaining full compatibility with the RoboDK API?
If granting access to the driver’s source code is not feasible, I’d appreciate any alternative methods to retrieve the robot’s TCP pose, joint angles, TCP acceleration, and speed data directly through the RoboDK Python API or other supported approaches. Any suggestions or guidance would be greatly helpful.
Thank you for your time and support.
Best regards,
Jaehong Yoo
