Hello Hello! Good morning to everyone!
Today I bring a thing from my treasure box. Reading this post i remember about 5 years i made my own robot (somewhere deep down, buried in this forum there are pictures and videos of it working..). So i said why not publishing the parser here!
Here it goes:
Basically i have been using tons of different robot brand:
FANUC, KUKA, YASKAWA (MOTOMAN), ABB, COMAU, CHINESE ONES (curiously lcnc based with jerk controlled tp), CHINESE ONES WITH KEBA CONTROLLER, etc.
The one i like the most is KUKA followed closely by ABB, both similar to pascal so i grab the manual and my experience in writing parsers and wrote (almost) the whole kuka KRL and made it compatible with linuxcnc interp plugin system.
it is named krlInterp
it consist in two parts:
ANTLR v4 parser, sources in c++ needs to be generated
krlInterpreter, just compile with linuxcnc source code (honestly i dont remember if some small modifications have to be made in linuxcnc src)
Links attached:
KRL ANTLR PARSER
and
KRL INTERPRETER
Any doubts, here i am!
Best regrads
Franco