Hi! I am new to the subject. That would be my job, using Scilab with KUKA Controll Toolbox (KCT) to extract a visual data from a camera image and the this data send via serial port to KUKA robot.(primeri question scilab image processing, KCT function, kuka-pc communication via serial port vicaverse) Someone can help me??
Visual servoing use KRC5 and Scilab
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Dzseno -
December 16, 2013 at 11:32 PM -
Thread is marked as Resolved.
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KRC...5? Are you sure this isn't a KRC4sr?
As far as I know, the new generation KRC controllers no longer support serial port communications. Also, the SciLab-KCT combination is built to work with KRL-XML over ethernet, as far as I am aware.
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It is possible to communicate with the serial port (RS232-RS232 and USB Adapter-Rs232) In The serial.ini file I set the necessary parameters to serial communication and in the Scilab KCT toolbox is initialized the program. what do I need to provide the CRL program to be able to exchange data with a PC via serial port?Some documentation on the subject? Thank you!
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I can help you
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Are you fcking kidding me??
Skyefire, the previous comment was a joke... -
sorry. this KRC 2 .The robot is a KR5 Any idea or tipps?
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I have a small serial communication example at kuka.skyefire.org
You'll need to get the correct manual from the Manuals,Software&Tools sub-forum and read the sections on serial control. IIRC, you have to enable the correct serial port in HW.INI, and set parameters in SERIAL.INI. Also, invest in an RS232 Loopback tester, they're very cheap and very helpful. Use HyperTerminal or something similar on the remote PC at first to debug your low level serial comms before trying to do it with SciLab. Also search the forum archives for "Telnet" -- if you telnet into the VxWorks side of the robot's brain, you can observe the actual serial port buffer exchanges in raw format to check what the robot is sending/receiving.
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Thank you so much