Adding statements to KUKA robot in KUKA Sim not supported?

Python Programming
1

Hi all,

I’m a python newbie using KUKA Sim 4.3. I am following the Visual Components tutorials and when using the following code to add statements through python to the main routine I get the following error (for the VC_STATEMENT_DELAY for example):

The transformation of the statement type VisualComponents.Revolution.DelayStatementWrapper is not supported.

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This error only pops up when I press the run simulation button. When I compile the code in the python script the delay, print statement, and PTP motion are actually created on the programme editor window. Below I add an image of the code and the successful compile.

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Unlike the tutorials, I am using a KUKA robot (KR 10 R900) and not the generic VC robot. I was wondering if this happens because I can’t use these commands on KUKA robots or if there is some option or plugin I have to install/turn on to make this code line work? Or maybe I am missing an extra s
iCircular3Test.vcmx (924.1 KB)
tep to enable these wrappers for the robot model I am using during sim runtime?

I am also attaching the vcmx file for reference.

Any help or advice is appreciated.

Thanks in advance.

Best regards,

Aaron

2

The robots in KUKA sim are using KUKA specific robot control system that does not support the generic robot statements from VC. There should be some property in the robots to choose the integrated (VC) controller.

3

So Under RCS properties, uncheck the UseRCS. This way the robot will use the integrated VC robot controls that support the VC Python API.

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