KUKAVARPROXY_to_Grasshopper

A simple grasshopper plugin for online-control of a KUKA (KRC2/4) by modifying global Variables from Grasshopper using KUKAVARPROXY.

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SETUP AND INSTALL

Robot-Controller

Download KUKAVARPROXY from it's Github page.

Warning: Changing the arm's ip address will break the connection between the controller and the arm. Proceed with caution.

Grasshopper

Download the KukaVP_GH.ghpy file and simply drag and drop to Grasshopper or copy to the Grasshopper's components folder.

Components folder default path
C:\ProgramData\Roaming\Grasshopper\components

OR
In Grasshopper go to
File > Special Folders > Components**

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USAGE

KUKAVARPROXY should be running on the robot controller and the robot should be connected to the computer. The connection is recommended to be tested by (as described in the troubleshooting section > Testing the communication) before using the plugin.

The communication is established using the Robot component in the grasshopper. The output of the component is then used as the input for the Read and Write components.

By default, KUKAVARPROXY will terminate the communication after 30 seconds of inactivity. The Read and Write components will re-establish the communication if needed. However, re-establishing the communication will cause a delay in communicating the data. If this delay is a problem, in order to prevent the termination of the communication, the KeepAlive component can be used. This component keeps sending data over the network every 25 seconds to prevent the communication from terminating.

Components

• Robot

Use the Robot component to connect to the robot. - ###### Inputs - IP: text containing the IP of the robot. example: 192.168.1.100 - Connect: Boolean whether to establish to connection or not. - ###### Outputs - Robot: The Robot object to use with other components.

• Read

  • Inputs

    • Robot (ROB): The Robot output from the Robot component.
    • Variable (VAR): Boolean whether to establish to connection or not.

  • Outputs

    • Value (VAL): The Value of the Variable in the robot.

• Write

  • Inputs

    • Robot (ROB): The Robot output from the Robot component.
    • Variable (VAR): Variable to write to.
    • Value (VAL): The value to write to the defined variable.
    • Write (WR): Boolean to write to the robot.

  • Outputs

    • Done (OK): Boolean defining if the write is done.

• Keep Alive

  • Inputs

    • Robot (ROB): The Robot output from the Robot component.
    • Keep (ALV): Boolean whether to keep the connection alive or not.

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Variables List

Troubleshooting