[Dmitry]

It's time to perform the first tests.

PLAN A
I have attached the archive with the newkukabridgedriver.
I don't know what version of RoboDK you are using, but I recommend the latest5.4.3 (64-bit).
Just in case, the 32-bit driver is also in the archive.

All the files from the archive must be unpacked to the folder:C:\RoboDK\api\Robot

的n in the "Connection to KUKA KR " window click the更多的选择button and choose or write the driver name to be used:kukabridgeorkukabridge32(depending on the architecture of your RoboDK).



PLAN B
If something goes wrong (for example, the driver won't work inside RoboDK).
You can run it as a standalone console application. For this, next to the.exefiles there is a filekukabridge-start.cmdwhich you can run.
After starting, the console will be empty (this is normal, the driver is waiting for a command).
Here is a set of commands for the test:

Code:

CONNECT
CJNT
MOVJ

My example output:

Code:

CONNECT 192.168.44.128 7000
SMS:Connecting...
连接
SMS:Working...
SMS:Ready

CJNT
SMS:Working...
JNTS 99.33396 -62.73709 116.17680 191.56420 54.00000 -186.85800 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
SMS:Ready

MOVJ 90
SMS:Working...
JNTS_MOVING 99.33396 -62.73709 116.17680 191.56420 54.00000 -186.85800 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
JNTS_MOVING 99.33396 -62.73709 116.17680 191.56420 54.00000 -186.85800 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
JNTS_MOVING 99.33396 -62.73709 116.17680 191.56420 54.00000 -186.85800 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000

JNTS_MOVING 90.00050 -62.73709 116.17680 191.56420 54.00000 -186.85800 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
JNTS_MOVING 90.00000 -62.73709 116.17680 191.56420 54.00000 -186.85800 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
JNTS_MOVING 90.00000 -62.73709 116.17680 191.56420 54.00000 -186.85800 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
SMS:Ready