[JaeHong Yoo]

Hello,

I am using the 'kukabridge' or 'apikuka' driver to communicate with a KUKA robot.

From my understanding, when RoboDK and KUKA robots are connected through these drivers and a proxy server (I use the c3 bridge), the command processing program (such as RoboDKSync562.src) runs on the KUKA robot controller. When a command like moveJ(joints) is executed, RoboDK sends the command to the c3 bridge. The c3 bridge then forwards this command to the RoboDKSync562.src program. This program, running in a loop, identifies the command and executes it in KRL language (for example, if it receives moveJ, it runs the KRL PTP command) to move the robot.

I would like to know more about the source code of the 'kukabridge' or 'apikuka' drivers. Specifically, I am interested in understanding how the moveJ command is packed by the driver and delivered to the proxy server.

Can you confirm if my understanding is correct and provide information on how I can access the source code for 'apikuka' or 'kukabridge'?

Thank you.

[Dmitry]

You got it almost right. But the C3 Bridge does not pass a value to the KRL program, it sets the value of the COM_ACTION global variable (which is declared in the $config.dat file).

The KRL program controls the state of this variable in an infinite loop.

The kukabridge or apikuka drivers ask the C3 Bridge Server to change the state of certain variables (specifically COM_ACTION).

You can find the C3 Protocol specification:
https://c3.ulsu.tech/protocol/latest/