June 27, 2019, 08:39:22 AM
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  KUKA to C# Communication

hot_post Author Topic:   KUKA to C# Communication  (Read 10514 times)

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July 11, 2016, 09:58:25 AM
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jarlobelledo


 Guys can you help me how to have communication  from C# to Kuka KR10, for the simulator project and all the script there is C# , and i want to get the value of that and send to kr10....  if you have any sample code oor idea how to do that can u help us....... jarlobelledo@gmail.com :help: :help:
« Last Edit: July 12, 2016, 07:49:48 AM by jarlobelledo »

Today at 08:39:22 AM
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July 11, 2016, 10:44:02 PM
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SkyeFire

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What communications bus?  There are dozens to choose from.

July 12, 2016, 03:36:31 AM
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conesag


I was told by our Local KUKA Customer Support Manager that the latest release of MxAutomation can handle C# and C++ applications that run from a PC (previous MxAutomation versions required a PLC). I found this our only 1 week ago, and I have asked for more details but I have not heard anything back yet.

SkyeFire, do you know how to communicate and control a KUKA robot from a PC?. The only product I know is EthernetKRL, but it is quite "rudimentary" and it does not allow C#, C++.



July 12, 2016, 05:29:37 AM
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vds


Hi conetag,

if you do find out any information on the new MxAutomation can you post your findings? I'd be interested to find out also.

Thanks!

July 12, 2016, 07:42:37 AM
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jarlobelledo


HI SkyeFire,

The communication between kr10 to C#...   bcos i have here communication from java to robot using jopenshowvar and kukavarproxy, i send some value to robot using java.. and i want a communication form c# to robot :help: :help:, thanks

July 12, 2016, 12:44:33 PM
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SkyeFire

Global Moderator

"Does not allow"?  EKI is a communications protocol channel -- it will exchange data with any application, in any programming language, that performs standard port-based ASCII or binary data exchanges.  And since this standard has existed since the dawn of ARPANET, there's hardly a programming language on Earth that doesn't support it natively.

July 13, 2016, 02:58:25 AM
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conesag


I was told by our Local KUKA Customer Support Manager that the latest release of MxAutomation can handle C# and C++ applications that run from a PC (previous MxAutomation versions required a PLC). I found this our only 1 week ago, and I have asked for more details but I have not heard anything back yet.

SkyeFire, do you know how to communicate and control a KUKA robot from a PC?. The only product I know is EthernetKRL, but it is quite "rudimentary" and it does not allow C#, C++.

"Does not allow"?  EKI is a communications protocol channel -- it will exchange data with any application, in any programming language, that performs standard port-based ASCII or binary data exchanges.  And since this standard has existed since the dawn of ARPANET, there's hardly a programming language on Earth that doesn't support it natively.
[/quote]

Thanks for highlighting this :icon_smile:. my choice of words was poor.  :icon_frown:
What I wanted to get at, is that I am not aware of a way to control the robot directly with C# or C++. KUKA told me that KRC 4 allows 3 types of controlling the robot:
1) PLC sending a command to execute a particular program (which runs in the controller)
2) PLC using MxAutomation, which allows a full control of the robot by implementing the code at the PLC side
3) EthernetKRL. This allows sending a file (in binary or XML) that the KRC4 processes to execute some predefined motions (in the template) and allows some modification to variables. This XML or binary file could be created using C#/C++ or other programming languages. However (As I was told) the controlling of the robot is still via a binary/XML file being transferred to the robot via the EthernetKRL technology package, and not via direct C++/C# commands.

My impression from the original question is that they want to control the robot with direct C++/C# commands - which I do not know how is done. I might have misinterpreted the original question

My particular situation, is that I need full control of the robot and my current design is using a PLC with MxAutomation (where I can combine Function Block with Structured Text programming). However, the ideal would be to NOT use a PLC and instead control the robot from a PC, with a level of control of the robot similar to the one MxAutomation allows.

Today at 08:39:22 AM
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July 13, 2016, 03:08:51 PM
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SkyeFire

Global Moderator
Well, "running the robot on C# commands" would be a neat trick, since the robot doesn't run C.

It sounds as if someone wants to achieve MxAutomations' level of sophistication and polish without paying for it.  The results will be predictable -- they're either going to end up with something cheap and clunky, or they're going to end up re-inventing MxAutomation from scratch, which I can guarantee will be a long, expensive process.

If they can settle for a "middle of the road" solution, a fair number of people have implemented "Slave" programs in KRL that listen for EKI commands and carry them out.  But it's a "chunky", non-realtime process.  If they need realtime, then probably their only option is to resort to RSI, which will also involve a substantial amount of programming on both ends.

July 25, 2016, 12:09:24 AM
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conesag


Hi,

I got an answer from the KUKA person and he told me that they have the latest MxAutomation version in their lab and they can control a KRC4 robot from a PC with a C# client, using a UDP interface.

I will be visiting their office in 1 week so I will be able to understand how well it works.

August 12, 2016, 02:56:48 AM
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conesag


Just to let you know that I went to KUKA's lab and the demo worked well.

The demo was quite simple. From the PC client application, I could command the axis position of the robot.

Of course we need other type of functionality for our application, but the demo showed us that you can run the robot from a PC, using C#. We'll be working in developing our functionality over the next months

August 12, 2016, 05:31:02 AM
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irobot


@conesag
Does the demo is using "MxAutomation", and which kind of PLC ?
KUKA Conntroller : _________
KSS Software : ____________
Robot Model: _____________

August 12, 2016, 05:38:00 AM
Reply #11
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conesag


The demo is with latest version of MxAutomation (V2.1)

there is no PLC involved, just a PC. This is why we are so interested in this version, since we do not currently have a PLC and our control system is PC based.

August 12, 2016, 06:12:06 AM
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irobot


@conesag

sounds great.  I checked the MxAutomation (V2.1) docs, it said :
variants
•special systems
LabVIEW
Industrial PC systems
•none field bus systems
UDP (Ethernet)

for the other systems is C++ library available


August 12, 2016, 06:25:46 AM
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conesag


I know that there is C++ and C# libraries. KUKA showed me a demo with C#.

Please note, that the C# demo is not officially release and it is Beta version. Nevertheless, I can tell you that it worked well

Today at 08:39:22 AM
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October 21, 2016, 02:21:49 AM
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ImpossibleRobot


Hi Conesag,
Do you know if the demo c# is available now?
What is MxAutomation? Can this be downloaded on PC and use to control robot position using c# or c++


January 04, 2017, 03:08:34 AM
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mecch


Hi, iRobot,
the like to message format is gone, do you have a copy of that? Thanks

January 04, 2017, 10:16:49 AM
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iDio



i'd like to take a look at that as well :)

December 09, 2017, 05:27:06 PM
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jmta


hello people, for the academical work, i try communication kuka with C# but get the error mesage

"An unhandled exception of type 'System.Net.Sockets.SocketException' occurred in System.dll

Additional information: The requested address is not valid in its context"

The example i run is this

https://github.com/erensezener/kuka-rsi-server/blob/master/C%23_ServerApplication.cs

What could be the problem?
thanks

PS: I changed correctly ip and port

April 11, 2018, 08:27:38 AM
Reply #18
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WalterPintor


Awesome.

Possible to share both the codesys and C# code?



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