Question: KR C4 with RSI Velocity Control level

[Ghassan-Nafash]

I am controlling a kuka industrial robot KR150 3300 k prime. The controller is KR C4, KSS v8.3.43 with RSI v3.2.0. I want to ask if i can control the real robot (Hardware) by sending velocity commands to the RSI. So, which commands do the RSI accept (should receive)?

Thanks in Advance

[gavanderhoorn]

This package uses the "same RSI" as you discussed with @Svastits in kroshu/kuka_drivers#191.

You could potentially look into incremental mode, but it's not supported here.