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The C3 Bridge Interface Server is a lightweight network application that allows remote clients to execute requests to the KUKA Cross 3 subsystem

Home Page: http://c3.ulsu.tech

License: Other

C++ 93.09% C 2.12% CMake 1.34% CSS 3.45%

kuka cross3 c3bridge variables remote-control krl

c3bridge-server's Introduction

C3 Bridge Interface Server

The C3 Bridge Interface Server is a lightweight network application that allows remote clients to execute requests to the KUKA Cross 3 subsystem and return responses. The application provides advanced functionality and high performance.

Features

Well-documented application protocol. It is fully compatible with KukavarProxy protocol, which means that existing client solutions (RoboDK, ROS) can be used.
Executes more functions of the KUKA Cross 3 subsystem (in the future we hope to implement all available functions).
Controls the execution of a KRL program.
High performance. The software is written in C++ and can be compiled using both modern development tools and development tools of the past years (like Visual C++ 6.0).
It does not require additional software libraries to be installed in the control system.
It starts minimized to tray and does not take up any space on the screen.
There are no limits on the number of simultaneous network connections and idle time.
It provides the Discovery Protocol for easy identification of the control system in the network.

Changelog

See the document for more information.

Website

HTTP://C3.ULSU.TECH/

License

S.P. Kapitsa Research Institute of Technology of Ulyanovsk State University.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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If you found this software useful, you can thank the author with donations via

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devotionzhu ktablog xiaodaxia-2008

c3bridge-server's Issues

HELP: Compiling source code to run over WIN95 Kuka controller

Hello,

I'm looking for some help to compile this software to run over the WIN95 controller.
My main goal is create a version that could use Serial Ports to implement the comunication protocol, making easier in some of the very old controllers, Idk if you guys would like this as MR in this project.

If this is interesting for this project and willing to have me some tips about this compiling issue. I think everyone could have enjoy this feature.

Best regards,
Henrique.

MESSAGE #10. PROGRAM CONTROL (SUBTYPE II) Not Working

Below is my python code.

    name = "/R1/Program/RoboDKsync543"
    name_len = len(name)
    msg_id = random.randint(1, 100)
    params = ""
    param_len = len(params)
    req_len = 9 + name_len + param_len
    msg_type = 10
    command_code = 5
    interpreter_type = 1
    force = False

    request = struct.pack(
        '!HHBBHH'+str(name_len)+'s'+'H'+str(param_len)+'s' + '?',
        msg_id,
        req_len,
        msg_type,
        command_code,
        interpreter_type,
        name_len,
        name.encode('UTF-8'),
        param_len,
        params.encode('UTF-8'),
        force
        )

And the response I get back is (1, 5, 10, 5, 9, False). The Error Code 9 indicates ErrorProtocol but I cant figure out what is wrong. Any advice on where to look? Thanks!

Reading/Writing of (multiple) variables is very slow

Hello, I programmed an application to test your c3bridge server in ordner to get a feelding for the communication performance and the depending roundtrip. I did this because the KUKAVARPROXY is to slow for my application - therefore, i searched for a faster variante and found your software.

Basically, the reading and writing works good without any errors. In my test, i wrote 79 variables (inputs) to the controller and read 61 variables from the controller.

In my first approach, i sent single "Read/Write" requests to the controller - therefore, i measured roundtrip times around 700 ms for all those variables (the duration time while sending a variable to the controller and reading the variable from the controller).

I saw that there is a possibility to send "MultipleRequests" (a list of variables) to the controller to read/write variables. Unfortunately, i noticed that this method was slower than the single read/write before - i thought, it must be faster because there are less calls on the interface than before.

I measured 735 ms to write those 79 variables to the controller and 335 ms to read those 61 variables from the controller.

Do you have any idea, why this is so slow? If not, do you plan a performance update in the near future?

If you need something, don't hesitate to ask.

Thanks in adavance,
Dominik

ulsu-tech / c3bridge-server Goto Github PK

c3bridge-server's Introduction

C3 Bridge Interface Server

Features

Changelog

Website

License

Donate

c3bridge-server's People

Contributors

Stargazers

Watchers

Forkers

c3bridge-server's Issues

HELP: Compiling source code to run over WIN95 Kuka controller

MESSAGE #10. PROGRAM CONTROL (SUBTYPE II) Not Working

Reading/Writing of (multiple) variables is very slow

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