hello,
is it possible to run RSI on KRC1? If so, is paid option?
Cez
hello,
is it possible to run RSI on KRC1? If so, is paid option?
Cez
Running RSI requires a certain minumum revision level of KSS. I do not believe that any KRC1 ever had that level of KSS, but I could be wrong. You would have to check with KUKA to be certain.
If it is possible, it is definitely a paid option.
Thanks.
I've just found a document
http://autosat2.humber.ca/files/atmn302/…/rsi_r10_en.pdf
saying "The program Robot Sensor Interface (RSI) can be used with the following software:
KR C1 Release 4.0 and higher, or KR C2 Release 4.0 and higher."
but it also says "Release 1.0 (BETA)"
Does it mean the final release omitted KRC1?
Version 1.0 of RSI would work with KSS 4.0, but higher versions of RSI only work with KSS in the 5.x range, if I recall correctly. RSI 1.0 might still be available, but I doubt it is a well-supported product.
after closer investigations it looks like I don't need RSI - I just need real time XYZABC and separate axes data sent via RS232 in real time, I guess I could use CREAD/CWRITE to obtain this,
am I correct?
RS232 will not be real time. If your operation is slow, RS232 might be fast enough to get by, but only RSI is truly realtime.
RSI is about 83Hz, so how much slower is RS232?
Or is it just not synchronous?
By the way, CWRITE/CREAD may also use other ports, could they be faster?
I guess both are sent from VxWorks?
RSI is hard realtime (syncronous), RS232 is not. RSI is constant, but Cwrite/Cread are client/server -- send a request, wait for a response. CW/CR times are variable, and not reliable. Also, buffer issues. RSI cannot use the serial port for exactly this reason. RSI must have a fully hard-realtime data bus.
CWrite/CRead do not work with anything but the RS232 port, that I am aware.
Both run in VxWorks, though in completely different fashions.
CWrite/CRead do not work with anything but the RS232 port, that I am aware.
Thank you SkyeFire.
KSS_ED_CRCWR_54_55_70_en.pdf, page 9:
"3.1 Communication via a serial interface"
and
"3.2 Communication via external modules"
and...
"External modules are drivers for interfaces, e.g. for TCP/IP, for Ethernet interfaces or for serial interfaces. An external module is always implemented outside the robot controller as an O file and then integrated into the robot controller."
do they (drivers) exist or am I to try to write them myself?
I've never seen it done. At least in theory, one might write their own .O modules and integrate them, but I have never seen any information on how this might be accomplished.