[JaeHong Yoo]

Hello,
I've been working on controlling a KUKA robot using the C3 bridge, and I encountered an issue with motion control commands. With the help of Dmitry, I got familiar with the C3 bridge documentation and successfully created custom drivers for communication.
I was able to read and write system variables using 'CommandsReadVariableAscii' and 'CommandsWriteVariableAscii' with message types 0 and 1 without any problems. However, I'm facing issues with sending motion control commands (PTP, LIN, PTP_REL, and LIN_REL) using 'CommandsMotion'.
While I succeeded in packetizing and forwarding messages for motion commands, there was a problem with the response. The KUKA robot didn't move, and the response part of the code, 

Code:

self.rsp = self.sock.recv(1024)

didn't receive any response.
Below attachment is the custom driver code I wrote. The issue seems to be in the 

Code:

move()

function, which handles the motion control part. I suspect there might be an issue with the format of the position variable, which is a parameter of 'move()', or there could be a problem in the encoding process.
Could anyone help me identify and resolve the exact cause? I would really appreciate any insights or suggestions.
Thank you!

[Dmitry]

Direct motion commands (without KRL program involvement) operate only under the following conditions:

• All drives are enabled.
  
• Safety authorization received (T1 mode requires holding the rear triggers on the smartPAD).
  
• No KRL program is running.
  

Unfortunately, even when all conditions are met, on KRC4 systems, commands need to be sent one after another continuously for the robot to move. This will cause the robot to move jerkily. On older KRC2 systems, there is no such problem and the robot will move smoothly.

[JaeHong Yoo]

Direct motion commands (without KRL program involvement) operate only under the following conditions:

• All drives are enabled.
  
• Safety authorization received (T1 mode requires holding the rear triggers on the smartPAD).
  
• No KRL program is running.
  

Unfortunately, even when all conditions are met, on KRC4 systems, commands need to be sent one after another continuously for the robot to move. This will cause the robot to move jerkily. On older KRC2 systems, there is no such problem and the robot will move smoothly.

 
Thank you Dmitry, for always helping me. I have a question about controlling a KUKA robot via the C3 Bridge. I read and implemented 'MESSAGE #11. MOTION CONTROL' as described in the C3 Bridge Document 3.7.1, but it doesn't seem to work.

Could you provide an example code for 'Motion Control' using the C3 Bridge? Specifically, I need to send movement commands for joint angle values or position values to a 6-axis KUKA robot using the PTP Motion Type.

Code:

position = "{A1 0, A2 -90, A3 90, A4 0, A5 0, A6 0}"

Code:

position = "{X 10, Y 0, Z 0, A 0, B 0, C 0}"

Thank you for your assistance.

[Dmitry]

I forgot to mention.
You also need to execute 3.6.1. MESSAGE #10. PROGRAM CONTROL (SUBTYPE I) with Command Code 2 (Start).