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Add external axis integration for KSS+ iiQKA OS2 #37

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379a642
initial go at extending with ext axes
kovacsge11 Nov 10, 2025
166a4df
update context+ethernet xml, rm factor from msg builder
kovacsge11 Nov 12, 2025
ea5fbfd
separate e1 prismatic example, rsi_joint_pos - aligned context, but w…
kovacsge11 Nov 13, 2025
5beeb86
Pass 0 as value for non-configured ext axes instead of initial value
kovacsge11 Nov 20, 2025
0c6f456
resolve PR comments - rm unnec checks, add warning comment, set non-c…
kovacsge11 Nov 20, 2025
e6ec94b
move ctx name as variable to dat file -->only one program is needed t…
kovacsge11 Nov 24, 2025
50153e4
reset e1 limits in rsi_joint_pos
kovacsge11 Nov 26, 2025
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74 changes: 0 additions & 74 deletions kuka_external_control_sdk/krc_setup/iiqka_os2/Program/RSI/rsi_gpio_example.src
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5 changes: 5 additions & 0 deletions kuka_external_control_sdk/krc_setup/iiqka_os2/Program/RSI/rsi_joint_pos.dat
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Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
&ACCESS R
DEFDAT rsi_joint_pos PUBLIC
CONST CHAR CONTEXT_NAME[64]
CONTEXT_NAME[] = "rsi_joint_pos"
ENDDAT
6 changes: 3 additions & 3 deletions kuka_external_control_sdk/krc_setup/iiqka_os2/Program/RSI/rsi_joint_pos.src
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Original file line number Diff line number Diff line change
Expand Up @@ -42,16 +42,16 @@ DEF rsi_joint_pos()
PTP $AXIS_ACT_MEAS

; Create RSI Context
ret = RSI_LOAD("rsi_joint_pos")
ret = RSI_LOAD(CONTEXT_NAME)
IF (ret <> RSIOK) THEN
HALT
ENDIF

; Set AxisCorr parameters to allow full range of motion
ROS_SetAxisCorrLimits("rsi_joint_pos")
ROS_SetAxisCorrLimits(CONTEXT_NAME)

; Activate RSI Context
ret = RSI_ACTIVATE("rsi_joint_pos")
ret = RSI_ACTIVATE(CONTEXT_NAME)
IF (ret <> RSIOK) THEN
HALT
ENDIF
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2,629 changes: 2,629 additions & 0 deletions ...al_control_sdk/krc_setup/iiqka_os2/RobotSensorInterface/Context/rsi_ext_axis_example.rsix
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59 changes: 49 additions & 10 deletions ..._external_control_sdk/krc_setup/iiqka_os2/RobotSensorInterface/Context/rsi_joint_pos.rsix
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Original file line number Diff line number Diff line change
@@ -1,10 +1,18 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- Do not change! The content of this file is generated. -->
<!-- Generated with RSIVisual iiQWorks.AppBuilder plugin. -->
<!-- iiQKA.RobotSensorInterface 6.1.2.4 -->
<!-- iiQKA.RobotSensorInterface 6.2.0.11 -->
<RsiContext xsi:schemaLocation="RsiContext RsiContext.xsd" SchemaVersion="2.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="RsiContext">
<RsiObjects xmlns="RsiDriver">
<RsiObject ObjTypeId="64" ObjType="Ethernet" ObjId="ETHERNET1">
<Inputs>
<Input InIdx="0" OutObjId="AxisActExt_1" OutIdx="0" SignalName="AxisActExt_1|E1" />
<Input InIdx="1" OutObjId="AxisActExt_1" OutIdx="1" SignalName="AxisActExt_1|E2" />
<Input InIdx="2" OutObjId="AxisActExt_1" OutIdx="2" SignalName="AxisActExt_1|E3" />
<Input InIdx="3" OutObjId="AxisActExt_1" OutIdx="3" SignalName="AxisActExt_1|E4" />
<Input InIdx="4" OutObjId="AxisActExt_1" OutIdx="4" SignalName="AxisActExt_1|E5" />
<Input InIdx="5" OutObjId="AxisActExt_1" OutIdx="5" SignalName="AxisActExt_1|E6" />
</Inputs>
<Parameters>
<Parameter IsRuntime="false" Name="ConfigFile" ParamId="0" ParamValue="rsi_ethernet.xml" />
<Parameter Name="Timeout" ParamId="0" ParamValue="100" />
Expand Down Expand Up @@ -61,6 +69,27 @@
<Parameter IsRuntime="false" Name="MaxE6" ParamId="11" ParamValue="6" />
</Parameters>
</RsiObject>
<RsiObject ObjTypeId="87" ObjType="AxisCorrExt" ObjId="AxisCorrExt_1">
<Parameters>
<Parameter Name="LowerLimE1" ParamId="0" ParamValue="-5" />
<Parameter Name="LowerLimE2" ParamId="1" ParamValue="-5" />
<Parameter Name="LowerLimE3" ParamId="2" ParamValue="-5" />
<Parameter Name="LowerLimE4" ParamId="3" ParamValue="-5" />
<Parameter Name="LowerLimE5" ParamId="4" ParamValue="-5" />
<Parameter Name="LowerLimE6" ParamId="5" ParamValue="-5" />
<Parameter Name="UpperLimE1" ParamId="6" ParamValue="5" />
<Parameter Name="UpperLimE2" ParamId="7" ParamValue="5" />
<Parameter Name="UpperLimE3" ParamId="8" ParamValue="5" />
<Parameter Name="UpperLimE4" ParamId="9" ParamValue="5" />
<Parameter Name="UpperLimE5" ParamId="10" ParamValue="5" />
<Parameter Name="UpperLimE6" ParamId="11" ParamValue="5" />
</Parameters>
</RsiObject>
<RsiObject ObjTypeId="90" ObjType="AxisActExt" ObjId="AxisActExt_1">
<Parameters>
<Parameter Name="Type" ParamId="0" ParamValue="0" />
</Parameters>
</RsiObject>
</RsiObjects>
<BlueprintCollections SchemaVersion="2.0.0" xmlns="RsiBlueprint">
<BlueprintCollection Name="RSI" Version="3.1.0">
Expand Down Expand Up @@ -2479,26 +2508,34 @@
</BlueprintCollections>
<Constructs xmlns="RsiConstruct">
<Construct Name="ETHERNET1" BlueprintName="Ethernet" BlueprintCollection="RSI" Location="0,0">
<Inputs>
<Input Name="In1" SourceObject="AxisActExt_1" SourcePort="E1" Points="-244.63333333333333,23.96;-196.63333333333333,23.96;-148.63333333333333,23.96;-148.63333333333333,23.96;-34,23.96;-18,23.96" />
<Input Name="In2" SourceObject="AxisActExt_1" SourcePort="E2" Points="-244.63333333333333,53.96;-204.63333333333333,53.96;-164.63333333333333,53.96;-164.63333333333333,53.96;-34,53.96;-18,53.96" />
<Input Name="In3" SourceObject="AxisActExt_1" SourcePort="E3" Points="-244.63333333333333,83.960000000000008;-212.63333333333333,83.960000000000008;-180.63333333333333,83.960000000000008;-180.63333333333333,83.960000000000008;-34,83.960000000000008;-18,83.960000000000008" />
<Input Name="In4" SourceObject="AxisActExt_1" SourcePort="E4" Points="-244.63333333333333,113.96000000000001;-220.63333333333333,113.96000000000001;-196.63333333333333,113.96000000000001;-196.63333333333333,113.96000000000001;-34,113.96000000000001;-18,113.96000000000001" />
<Input Name="In5" SourceObject="AxisActExt_1" SourcePort="E5" Points="-244.63333333333333,143.96;-228.63333333333333,143.96;-212.63333333333333,143.96;-212.63333333333333,143.96;-34,143.96;-18,143.96" />
<Input Name="In6" SourceObject="AxisActExt_1" SourcePort="E6" Points="-244.63333333333333,173.96;-236.63333333333333,173.96;-228.63333333333333,173.96;-228.63333333333333,173.96;-34,173.96;-18,173.96" />
</Inputs>
<Parameters>
<StringParameter Name="ConfigFile" Value="rsi_ethernet.xml" />
<IntParameter Name="Timeout" Value="100" />
<IntParameter Name="Flag" Value="1" />
<IntParameter Name="Precision" Value="4" />
</Parameters>
</Construct>
<Construct Name="Stop_1" BlueprintName="Stop" BlueprintCollection="RSI" Location="400,383.52">
<Construct Name="Stop_1" BlueprintName="Stop" BlueprintCollection="RSI" Location="402,384">
<Inputs>
<Input Name="In1" SourceObject="ETHERNET1" SourcePort="Out7" Points="181.93,203.96;189.93,203.96;197.93,203.96;197.93,407.48;366,407.48;382,407.48" />
<Input Name="In1" SourceObject="ETHERNET1" SourcePort="Out7" Points="181.93,203.96;197.93,203.96;213.93,203.96;213.93,407.96;368,407.96;384,407.96" />
</Inputs>
</Construct>
<Construct Name="AxisCorr_1" BlueprintName="AxisCorr" BlueprintCollection="RSI" Location="402,0">
<Inputs>
<Input Name="CorrA1" SourceObject="ETHERNET1" SourcePort="Out1" Points="181.93,23.96;237.93,23.96;293.93,23.96;293.93,23.96;368,23.96;384,23.96" />
<Input Name="CorrA2" SourceObject="ETHERNET1" SourcePort="Out2" Points="181.93,53.96;229.93,53.96;277.93,53.96;277.93,53.96;368,53.96;384,53.96" />
<Input Name="CorrA3" SourceObject="ETHERNET1" SourcePort="Out3" Points="181.93,83.96;221.93,83.96;261.93,83.96;261.93,83.96;368,83.96;384,83.96" />
<Input Name="CorrA4" SourceObject="ETHERNET1" SourcePort="Out4" Points="181.93,113.96;213.93,113.96;245.93,113.96;245.93,113.96;368,113.96;384,113.96" />
<Input Name="CorrA5" SourceObject="ETHERNET1" SourcePort="Out5" Points="181.93,143.96;205.93,143.96;229.93,143.96;229.93,143.96;368,143.96;384,143.96" />
<Input Name="CorrA6" SourceObject="ETHERNET1" SourcePort="Out6" Points="181.93,173.96;197.93,173.96;213.93,173.96;213.93,173.96;368,173.96;384,173.96" />
<Input Name="CorrA1" SourceObject="ETHERNET1" SourcePort="Out1" Points="181.93,23.96;245.93,23.96;309.93,23.96;309.93,23.96;368,23.96;384,23.96" />
<Input Name="CorrA2" SourceObject="ETHERNET1" SourcePort="Out2" Points="181.93,53.96;237.93,53.96;293.93,53.96;293.93,53.96;368,53.96;384,53.96" />
<Input Name="CorrA3" SourceObject="ETHERNET1" SourcePort="Out3" Points="181.93,83.960000000000008;229.93,83.960000000000008;277.93,83.960000000000008;277.93,83.960000000000008;368,83.960000000000008;384,83.960000000000008" />
<Input Name="CorrA4" SourceObject="ETHERNET1" SourcePort="Out4" Points="181.93,113.96000000000001;221.93,113.96000000000001;261.93,113.96000000000001;261.93,113.96000000000001;368,113.96000000000001;384,113.96000000000001" />
<Input Name="CorrA5" SourceObject="ETHERNET1" SourcePort="Out5" Points="181.93,143.96;213.93,143.96;245.93,143.96;245.93,143.96;368,143.96;384,143.96" />
<Input Name="CorrA6" SourceObject="ETHERNET1" SourcePort="Out6" Points="181.93,173.96;205.93,173.96;229.93,173.96;229.93,173.96;368,173.96;384,173.96" />
</Inputs>
<Parameters>
<DoubleParameter Name="LowerLimA1" CanBeSetFromKrl="true" Value="-180" />
Expand All @@ -2515,7 +2552,7 @@
<DoubleParameter Name="UpperLimA6" CanBeSetFromKrl="true" Value="180" />
</Parameters>
</Construct>
<Construct Name="AxisCorrMon_1" BlueprintName="AxisCorrMon" BlueprintCollection="RSI" Location="12,252">
<Construct Name="AxisCorrMon_1" BlueprintName="AxisCorrMon" BlueprintCollection="RSI" Location="6,438">
<Parameters>
<DoubleParameter Name="MaxA1" Value="1000" />
<DoubleParameter Name="MaxA2" Value="1000" />
Expand All @@ -2525,5 +2562,7 @@
<DoubleParameter Name="MaxA6" Value="1000" />
</Parameters>
</Construct>
<Construct Name="AxisCorrExt_1" BlueprintName="AxisCorrExt" BlueprintCollection="RSI" Location="678,546" />
<Construct Name="AxisActExt_1" BlueprintName="AxisActExt" BlueprintCollection="RSI" Location="-426,0" />
</Constructs>
</RsiContext>
14 changes: 13 additions & 1 deletion ...trol_sdk/krc_setup/iiqka_os2/RobotSensorInterface/Ethernet configuration/rsi_ethernet.xml
100755 → 100644
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Expand Up @@ -10,7 +10,13 @@
<ELEMENT TAG="DEF_RIst" TYPE="DOUBLE" INDX="INTERNAL" />
<ELEMENT TAG="DEF_AIPos" TYPE="DOUBLE" INDX="INTERNAL" />
<ELEMENT TAG="DEF_Delay" TYPE="LONG" INDX="INTERNAL" />
</ELEMENTS>
<ELEMENT TAG="EXT.E1" TYPE="DOUBLE" INDX="1" />
<ELEMENT TAG="EXT.E2" TYPE="DOUBLE" INDX="2" />
<ELEMENT TAG="EXT.E3" TYPE="DOUBLE" INDX="3" />
<ELEMENT TAG="EXT.E4" TYPE="DOUBLE" INDX="4" />
<ELEMENT TAG="EXT.E5" TYPE="DOUBLE" INDX="5" />
<ELEMENT TAG="EXT.E6" TYPE="DOUBLE" INDX="6" />
</ELEMENTS>
</SEND>
<RECEIVE>
<ELEMENTS>
Expand All @@ -21,6 +27,12 @@
<ELEMENT TAG="AK.A5" TYPE="DOUBLE" INDX="5" HOLDON="1" />
<ELEMENT TAG="AK.A6" TYPE="DOUBLE" INDX="6" HOLDON="1" />
<ELEMENT TAG="Stop" TYPE="BOOL" INDX="7" HOLDON="0" />
<ELEMENT TAG="EK.E1" TYPE="DOUBLE" INDX="8" HOLDON="1" />
<ELEMENT TAG="EK.E2" TYPE="DOUBLE" INDX="9" HOLDON="1" />
<ELEMENT TAG="EK.E3" TYPE="DOUBLE" INDX="10" HOLDON="1" />
<ELEMENT TAG="EK.E4" TYPE="DOUBLE" INDX="11" HOLDON="1" />
<ELEMENT TAG="EK.E5" TYPE="DOUBLE" INDX="12" HOLDON="1" />
<ELEMENT TAG="EK.E6" TYPE="DOUBLE" INDX="13" HOLDON="1" />
</ELEMENTS>
</RECEIVE>
</ROOT>
19 changes: 18 additions & 1 deletion kuka_external_control_sdk/kss/include/kuka/external-control-sdk/kss/message_builder.h
100755 → 100644
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Expand Up @@ -63,6 +63,7 @@ class MotionState : public BaseMotionState {
const std::string kAttributeSuffix = "\"/>";

const std::string kJointPositionsPrefix = "<AIPos";
const std::string kExtJointPositionsPrefix = "<EXT";

const std::string kDelayNodePrefix = "<Delay D=\"";
const std::string kGpioPrefix = "<GPIO";
Expand All @@ -77,6 +78,10 @@ class MotionState : public BaseMotionState {
long ipoc_ = 0;
long delay_ = 0;

static constexpr short kFixSixAxes = 6;
// TODO (kovacsge11) make configurable when SCARA support added
std::size_t num_of_non_ext_axes_ = 6;

static constexpr int kPrecision = 6;
};

Expand All @@ -96,10 +101,15 @@ class ControlSignal : public BaseControlSignal {
gpioAttributePrefix.push_back(" " + config.name + "=\"");
}

for (int i = 1; i <= dof; ++i) {
// Fixed all 6 non-ext and 6 ext positions sent, initial values for those not configured
for (int i = 1; i <= kFixSixAxes; ++i) {
joint_position_attribute_prefixes_.push_back(" A" + std::to_string(i) +
"=\"");
}
for (int i = 1; i <= kFixSixAxes; ++i) {
ext_joint_position_attribute_prefixes_.push_back(" E" + std::to_string(i) +
"=\"");
}
}
ControlSignal(const ControlSignal &other) = default;
ControlSignal &operator=(const ControlSignal &other) = delete;
Expand All @@ -116,13 +126,16 @@ class ControlSignal : public BaseControlSignal {
void AppendToXMLString(std::string_view str);

const std::string kMessagePrefix = "<Sen Type=\"KROSHU\">";

const std::string kJointPositionsPrefix = "<AK";
std::vector<std::string> joint_position_attribute_prefixes_;
const std::string kDoubleAttributeFormat =
"%." + std::to_string(kPrecision) + "f";
const std::string kAttributeSuffix = "/>";
const std::string kStopNodePrefix = "<Stop>";
const std::string kStopNodeSuffix = "</Stop>";
const std::string kExtJointPositionsPrefix = "<EK";
std::vector<std::string> ext_joint_position_attribute_prefixes_;
const std::string kGpioPrefix = "<GPIO";
const std::string kIpocNodePrefix = "<IPOC>";
const std::string kIpocNodeSuffix = "</IPOC>";
Expand All @@ -136,6 +149,10 @@ class ControlSignal : public BaseControlSignal {
static constexpr int kPrecision = 6;
static constexpr int kBufferSize = 1024;
char xml_string_[kBufferSize];

static constexpr short kFixSixAxes = 6;
// TODO (kovacsge11) make configurable when SCARA support added
std::size_t num_of_non_ext_axes_ = 6;
};
} // namespace kuka::external::control::kss

Expand Down
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