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Sending motion commands to a KUKA arm in server mode via EthernetKRL


I'm working with a KUKA KR10R1100_2 robot arm and would like to be able to tell it how to move to different poses (positions plus rotations) via a Python program on a Windows machine (as opposed to using the Teach Pendant or just sending over a canned-program). I'm curious about how to use RoboDK to:
  1. Put the KUKA robot  into "server mode" where the robot's "background submit interpreter" can both 
    1. receive raw-string commands (like what positions and angles the arm should move to next) FROM a host Windows computer over EthernetKRL and 
    2. send back raw-string reports of its current position/speed/etc TO a host windows computer over EthernetKRL.
  • All code on the Windows host computer will be written in Python. 
  • I'd like to send and receive the raw-strings messages (as opposed to XML messages) at 5-10Hz (every 0.1 to 0.2 seconds), which should be achievable over EthernetKRL (without needing the "real-time" control).
    • It's my understanding that we get to control the raw-string message format. I'd like to do this in JSON format, like: {"X": 1.0, "Y": 2.0, "Z": 3.0, "Rx": 0.4, "Ry": 0.5, "Rz": 0.6}
Since this application involves writing code on BOTH the robot-side and the Windows host computer, I'm wondering if RoboDK can handle both sides. 
Would you please be able to send or point me towards sample code for each side (robot and Windows host)? 


This is already possible by using the RoboDK driver for KUKA. You can setup the driver on the KUKA robot by following this guide:

And this example in Python shows how you can move the real robot from Python code:

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