Kuka with DVT (cognex) vision setup

[loopyjoe7]

Hi,

I am wondering if anyone has any information they can pass on to me on how to setup a DVT (cognex) camera to communicate with a Kuka KRC2 robot.
I have heard that setting it up using a serial connection is the best and easiest way (using a ethernet to serial converter).

Any information (examples, code etc) on how to setup the comms will be much appreciated.

Thanks in advance
Ken

[SkyeFire]

KukaVision is a tech package that lets you run Cognex InSight directly on the robto controller and tie it into your KRL program.  Makes integrating Cognexes (Cognexi?) a lot easier.

Haven't used a Cognex on a KRC without KV... yet.  I assume that you're using serial on the KRC end and ethernet on the Cognex?  I haven't seen a rig like that before, but I know the Cognex hardware is pretty flexible.

I would strongly suggest getting a subscription to the Cognex SMARTLIST mailing list -- a lot of Congex techs and users hang out there and swap questions and solutions.  I suspect getting your serial-to-ethernet working will require some setting adjustments on the Cognex.  Once that's done, sending/receiving strings via the KRC's COM port isn't too hard, although the syntax takes some getting used to.  Using a separate computer running HyperTerminal or TerraTerm in place of the Cognex will help you get your KRL serial port setup working before you connect the Cognex.

[loopyjoe7]

Thanks for the reply.

I want to use serial commands instead of kuka vision.
I know that you have to use CREAD and CWRITE commands but I just cant get it to work.

If anyone has any sample code on how to send and receive a string over the kuka serial port it would make things so much easier for me.

Thanks in advance.

[SkyeFire]

Well, the manuals are available here:  http://www.robot-forum.com/robotforum/manuals_software_and_tools_for_kuka_robots/krc2_manuals_for_kss_version_52-t229.0.html, and there's some example source code in the Serial manual.  And if you search the forum, there are some other discussions about using serial on KRC controllers that cover a lot of the pitfalls and tricks.

As for code, browse to kuka.skyefire.org and grab the serial.src and serial.dat files.  That's some crude quick&dirty test code I threw together a while back.  It's not pretty, but it worked.

Building an RS232 loopback tester also helps, and only costs about $5 in parts from Radio Shack.  Get/build a null-modem adapter too.  Telnetting from the WIndows side of the controller into the VxWorks side (run "telnet95 192.0.1.1") will let you watch what the robot thinks it's sending/receiving, down at the hardware-driver level -- seeing that can help you nail down errors in your code.