# Copyright 2015 - RoboDK Inc. - https://robodk.com/ # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # http://www.apache.org/licenses/LICENSE-2.0 # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # ---------------------------------------------------- # This file is a POST PROCESSOR for Robot Offline Programming to generate programs # for a KUKA KR C4 robot controller with RoboDK # # To edit/test this POST PROCESSOR script file: # Select "Program"->"Add/Edit Post Processor", then select your post or create a new one. # You can edit this file using any text editor or Python editor. Using a Python editor allows to quickly evaluate a sample program at the end of this file. # Python should be automatically installed with RoboDK # # You can also edit the POST PROCESSOR manually: # 1- Open the *.py file with Python IDLE (right click -> Edit with IDLE) # 2- Make the necessary changes # 3- Run the file to open Python Shell: Run -> Run module (F5 by default) # 4- The "test_post()" function is called automatically # Alternatively, you can edit this file using a text editor and run it with Python # # To use a POST PROCESSOR file you must place the *.py file in "C:/RoboDK/Posts/" # To select one POST PROCESSOR for your robot in RoboDK you must follow these steps: # 1- Open the robot panel (double click a robot) # 2- Select "Parameters" # 3- Select "Unlock advanced options" # 4- Select your post as the file name in the "Robot brand" box # # To delete an existing POST PROCESSOR script, simply delete this file (.py file) # # ---------------------------------------------------- # More information about RoboDK Post Processors and Offline Programming here: # https://robodk.com/help#PostProcessor # https://robodk.com/doc/en/PythonAPI/postprocessor.html # ---------------------------------------------------- # # ---------------------------------------------------- # Description # The KUKA KR C4 post processor allows you to generate code (.src) for KUKA KR C4 controllers. # The KUKA KR C4 controller integrates robot control, PLC Control, motion control and safety control. # You can easily configure the KRC Version variable to generate code for KRC 2 controllers only. # # This post processor inlines the target coordinates inside linear movements. # You can use the **KUKA_KRC4_DAT** post processor instead to save the targets in a data (DAT) file instead. # # # Supported Controllers # KUKA KR C4, KUKA KR C5 # ---------------------------------------------------- # ---------------------------------------------------- # Import RoboDK tools from robodk import * from KUKA_KRC2 import RobotPost as MainPost # ---------------------------------------------------- # Object class that handles the robot instructions/syntax class RobotPost(MainPost): # Maximum number of lines per program. It will then generate multiple "pages (files)" if the program is too long # This is the default value. You can change this value in RoboDK: # Tools-Options-Program-Limit the maximum number of lines per program MAX_LINES_X_PROG = 2500 # Set to True to include subprograms in the main program. Otherwise, programs can be generated separately. INCLUDE_SUB_PROGRAMS = False # Set to True to include subprograms in the same file # Generate subprograms as new files instead of adding them in the same file (INCLUDE_SUB_PROGRAMS must be set to True) SUB_PROGRAMS_AS_FILES = True # Set KRC Version (2 or 4) # Version 2 for KRC2 controllers or Version 4 for KRC4 KRC_VERSION = 2 # for KRC2 controllers #KRC_VERSION = 4 # for KRC4 controllers # Display messages on the teach pendant. This feature is not supported by all controllers and must be disabled for some controllers. #SKIP_MESSAGE_POPUPS = True SKIP_MESSAGE_POPUPS = False # Use the Frame index instead of the pose when the index is provided # Example: Set to True and rename your reference to "Frame 2" to use BASE_DATA[2]) FRAME_INDEX = False # Use the Tool index instead of the pose when the index is provided # Example: Set to True and rename your tool to "Tool 3" to use TOOL_DATA[3]) TOOL_INDEX = False # Define the move linear keyword (usually LIN) # Other examples: SLIN, SPL (use a Spline Block, ... # Tip: Add a comment such as start_spl, start_lin or start_slin to change the move command LIN_KEYWORD = "LIN" # Use SPLINE block (SPL movements). You can change this flag or change the LIN KEYWORD to SPL. SPLINE_BLOCK = False # Set if we want to have cascaded program calls when program splitting takes place # Usually, cascaded is better for older controllers # CASCADED_CALLS = True # CASCADED_CALLS = False CASCADED_CALLS = (KRC_VERSION <= 2) # Enter program names to exclude from EXT definition in each program header # PROG_EXT_EXCLUDE = ["tool_change","spindle_start","spindle_stop"] # PROG_EXT_EXCLUDE = True # Never add EXT programs in the header # PROG_EXT_EXCLUDE = False # Always add EXT programs PROG_EXT_EXCLUDE = (KRC_VERSION > 2) # Optionally output configuration and turn flags S and T # If we set this to true, the output targets will have the configuration and turn bits added in the movement # (for example: S B'010', T B'000001') ADD_CONFIG_TURN = False # Add a keyword to split subprograms # SKIP_PROG_KEYWORD = 'spindle' SKIP_PROG_KEYWORD = None # Set the name/order of default axes and external axes AXES_DATA = ['A1','A2','A3','A4','A5','A6','E1','E2','E3','E4','E5','E6'] # Program name max length (KRC4 is 24 characters) PROG_NAME_LEN = 16 # Parameters for 3D printing # Use a synchronized external axis as an extruder (E1, E2, ... or the last available axis) #EXTAXIS_EXTRUDER = False EXTAXIS_EXTRUDER = True # Use a weld gun as an extruder #WELD_EXTRUDER = True WELD_EXTRUDER = False # Parameters for 3D printing using a custom extruder # 3D Printing Extruder Setup Parameters: PRINT_E_ANOUT = 5 # Analog Output ID to command the extruder flow PRINT_SPEED_2_SIGNAL = 0.10 # Ratio to convert the speed/flow to an analog output signal PRINT_FLOW_MAX_SIGNAL = 24 # Maximum signal to provide to the Extruder PRINT_ACCEL_MMSS = -1 # Acceleration, -1 assumes constant speed if we use rounding/blending def setFrame(self, pose, frame_id, frame_name): """Change the robot reference frame""" self.addline('; ---- Setting reference: %s ----' % frame_name) if self.nAxes > 6: # Code to output if the robot has external axes: self.BASE_ID = frame_id if self.BASE_ID <= 0: self.BASE_ID = self.DEFAULT_BASE_ID # option 1: Build the kinematics based on the MACHINE_DEF array and the provided offset #self.addline('$BASE = EK (MACHINE_DEF[2].ROOT, MACHINE_DEF[2].MECH_TYPE, { %s })' % self.pose_2_str(pose)) # option 2: Build the kinematics based on the EX_AX_DATA array and the provided offset #self.addline('$BASE=EK(EX_AX_DATA[1].ROOT,EX_AX_DATA[1].EX_KIN, { %s })' % self.pose_2_str(pose)) # Option 3: Build the kinematics based on the EX_AX_DATA array and the pre-defined offset #self.addline('; Using external axes') #self.addline('; $BASE=EK(EX_AX_DATA[1].ROOT,EX_AX_DATA[1].EX_KIN,EX_AX_DATA[1].OFFSET)') #self.addline('; $ACT_EX_AX= %i' % (self.nAxes - 6)) # Option 4: Use the BAS(#ex_BASE) init function from the BAS.src file #self.addline('; BASE_DATA[%i] = {FRAME: %s}' % (self.BASE_ID, self.pose_2_str(pose))) #self.addline('BAS(#ex_BASE,%i)' % self.BASE_ID) # Option 5: Use the BAS(#BASE) init function from the BAS.src file self.addline('; BASE_DATA[%i] = {FRAME: %s}' % (self.BASE_ID, self.pose_2_str(pose))) self.addline('BAS (#BASE,%i)' % self.BASE_ID) # Option 6: Directly take the base from the BASE_DATA array (usually what the BAS(#BASE) does) # self.addline('$BASE=BASE_DATA[%i]' % self.BASE_ID) elif frame_name is not None and frame_name.endswith("Base"): # Usually for the robot base frame frame_id = self.DEFAULT_BASE_ID self.BASE_ID = frame_id self.addline('$BASE = {FRAME: ' + self.pose_2_str(pose) + '}') self.addline('; BASE_DATA[%i] = {FRAME: %s}' % (self.BASE_ID, self.pose_2_str(pose))) self.addline('; $BASE = BASE_DATA[%i]' % (self.BASE_ID)) elif frame_id is not None and frame_id >= 1: # specified ID reference frame (for example a reference frame named "Frame 2" -> frame_id = 2 self.BASE_ID = frame_id self.addline('; BASE_DATA[%i] = {FRAME: %s}' % (self.BASE_ID, self.pose_2_str(pose))) if self.BASE_INDEX: self.addline('; $BASE = {FRAME: ' + self.pose_2_str(pose) + '}') self.addline('$BASE = BASE_DATA[%i]' % (self.BASE_ID)) else: self.addline('$BASE = {FRAME: ' + self.pose_2_str(pose) + '}') self.addline('; $BASE = BASE_DATA[%i]' % (self.BASE_ID)) else: # unspecified ID reference frame self.BASE_ID = self.DEFAULT_BASE_ID self.addline('$BASE = {FRAME: ' + self.pose_2_str(pose) + '}') self.addline('; --------------------------') # ------------------------------------------------- # ------------ For testing purposes --------------- def Pose(xyzrpw): [x,y,z,r,p,w] = xyzrpw a = r*math.pi/180 b = p*math.pi/180 c = w*math.pi/180 ca = math.cos(a) sa = math.sin(a) cb = math.cos(b) sb = math.sin(b) cc = math.cos(c) sc = math.sin(c) return Mat([[cb*ca, ca*sc*sb - cc*sa, sc*sa + cc*ca*sb, x],[cb*sa, cc*ca + sc*sb*sa, cc*sb*sa - ca*sc, y],[-sb, cb*sc, cc*cb, z],[0,0,0,1]]) def test_post(): """Test the post with a basic program""" robot = RobotPost('Kuka_custom', 'Generic Kuka') robot.ProgStart("Program") robot.RunMessage("Program generated by RoboDK", True) robot.setFrame(Pose([807.766544, -963.699898, 41.478944, 0, 0, 0]), 4, "Frame 4") robot.setTool(Pose([62.5, -108.253175, 100, -60, 90, 0]), 2, "Tool 2") robot.MoveJ(Pose([200, 200, 500, 180, 0, 180]), [-46.18419, -6.77518, -20.54925, 71.38674, 49.58727, -302.54752] ) robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] ) robot.MoveL(Pose([200, 200, 262.132034, 180, 0, -150]), [-43.73892, -3.91728, -35.77935, 58.57566, 54.11615, -253.81122] ) robot.RunMessage("Setting air valve 1 on") robot.RunCode("ArcStart(1)", True) robot.Pause(1000) robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] ) robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] ) robot.MoveL(Pose([250, 250, 191.421356, 180, 0, -150]), [-39.75778, -1.04537, -40.37883, 52.09118, 54.15317, -246.94403] ) robot.RunMessage("Setting air valve off") robot.RunCode("ArcEnd()", True) robot.Pause(1000) robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] ) robot.MoveL(Pose([250, 200, 278.023897, 180, 0, -150]), [-41.85389, -1.95619, -34.89154, 57.43912, 52.34162, -253.73403] ) robot.MoveL(Pose([250, 150, 191.421356, 180, 0, -150]), [-43.82111, 3.29703, -40.29493, 56.02402, 56.61169, -249.23532] ) robot.ProgFinish("Program") # robot.ProgSave(".","Program",True) for line in robot.PROG: print(line) if len(robot.LOG) > 0: mbox('Program generation LOG:\n\n' + robot.LOG) input("Press Enter to close...") if __name__ == "__main__": """Function to call when the module is executed by itself: test""" test_post()