Does Robots support the KR C5 micro-2 controller running iiQKA.OS2?

[kevin88763]

Hello,
Our laboratory recently acquired a KUKA KR 10 R1100-3 equipped with a KR C5 micro-2 controller running iiQKA.OS2.
We would like to use the Robots plugin in Rhino/Grasshopper for robot path planning, simulation, and program generation.
Does Robots currently support the KR C5 micro-2 controller running iiQKA.OS2? More specifically, can the KUKA programs generated by Robots be transferred to and executed on this controller?
If this configuration is not currently supported, are there any plans to support it in the future?

Thank you for your help!

[visose]

Yes, I think it is likely to work, particularly for basic motion programs.

Robots already includes models for the closely related KR10-R1100, and iiQKA.OS2 supports KRL—the same programming language Robots generates. My rough expectation would be:

• About a 90% chance that simulation and path planning will work, after checking that the model dimensions and joint limits match your exact KR 10 R1100-3.
• About a 70% chance that a basic generated program will compile and run without changes on iiQKA.OS2.

The main uncertainty is not the robot's six-axis kinematics, but whether iiQKA.OS2 accepts every part of the classic KRL format currently generated by Robots. If changes are required, I would expect relatively small compatibility changes to the postprocessor rather than an entirely new implementation.

Robots does not currently upload directly to KUKA controllers. You would save the generated .SRC and .DAT files and import them using the normal iiQWorks/controller workflow.

I suggest starting with a very small program containing a few PTP and LIN movements, compiling it in iiQWorks.Sim or the controller, and testing it at reduced speed. If you share the generated files and any compiler messages, we can confirm compatibility and address any differences.

[kevin88763]

Thank you very much for the detailed explanation.

This is very helpful. We will first verify that the KR10-R1100 model dimensions and joint limits match our KR 10 R1100-3, then generate a very small test program with a few PTP and LIN movements.

We will try compiling/importing the generated .SRC and .DAT files through the normal iiQWorks / controller workflow and test carefully at reduced speed.

If we encounter any compiler errors or compatibility issues, I will share the generated files and messages here so we can confirm what changes, if any, are needed in the postprocessor.

I will report back once we have tested it on our setup.

Thanks again for your help!