Build the *.kl
files in the karel
folder with Roboguide and copy them to the robot MD:
folder
Set UNLOCK to HTTP authentication of KAREL:
- On the Teach Pendant select
Menu -> Setup -> Host Comm
- Set the cursor on
HTTP
- Push
F3[DETAIL]
- Set the cursor on
A
left side of KAREL. SelectF3[UNLOCK]
Set the teach pendent of and turn the robot to automatic mode.
http://<robot ip>/KAREL/appprogram
http://<robot ip>/KAREL/appmonitor
http://<robot ip>/KAREL/appstart?task=motion
http://<robot ip>/KAREL/appmove?motion_t=jja&coord1=0.0&coord2=0.0&coord3=0.0&coord4=45.0&coord5=0.0&coord6=0.0
This tool contains differnt apps
- appprogramm => display all available programs
- appmonitor => display the robot information
- appstart => start a program as a task
- appmove => move the robot using motion type and coordinates.
app move uses the Motion.tp
program the motion types are
- jjr => relative joint motion with joint interpolation
- jja => absolut joint motion with joint interpolation
- jcr => relative cartesian motion with joint interpolation
- jca => absolut cartesian motion with joint interpolation
- lcr => relative cartesian motion with linear interpolation
- lca => absolut cartesian motion with linear interpolation
followed by the six coordinates.