Hello,
Anyone using FerRobotics Active Contact Flange?
Need it connected to Kuka KR30-3 KRC4 V8.3.14.
FerRobotics ACF
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Robotony -
March 6, 2017 at 10:29 PM -
Thread is marked as Resolved.
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Looks simple enough. What are you trying to do with it? The data sheet says it can connect using multiple FieldBus options, so interfacing it should be easy. Anything beyond that is application-specific.
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Hello, looking for sanding/grinding/polishing parts with that tool. So the communication will be done thru EthernetIP, i know i have to use WorkVisual to mapp. but Im not sure exactly how. Other thing concerns me that i will need to control that tool inside program where i do motions....because i need to tell the tool to push less on the end of the part. I spoke to kuka they said i need to buy additional software for that.
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The web site actually doesn't mention EIP. ProfiNet, Profibus, TCP/IP, and DeviceNet, but not EIP. You may want to check your choice.
As for the rest, it all depends on the FER control interface, which... doesn't appear to be documented on the web site at all. But as long as it's I/O is mappable as bytes, there shouldn't be any real issue controlling it from the KRC. And you shouldn't need any additional software (barring the add-on for ProfiNet or whichever bus system you decide to use). You're going to want to contact FER and get a complete set of interfacing details from them before you jump into this.
How many axes of control do you anticipate using? AFAICT, the FER device is single-axis only. Which should be fine for many polishing-type processes, but you'll have to program your robot to always keep the FER axis perpendicular to the surface you're working on.
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ACF has the option for EthernetIP, But we are getting both options EIP and TCP/IP. Now ive been told to use KLI port in KRC. Will i need additional software on SmartPad? then what to configure in WorkVisual?
Thanks Guys -
KLI is KUKA Line Interface. It's just a port -- almost every protocol for connecting the KRC4 to anything else goes through that port. EIP, Profinet, EKI, even RSI all pass through it -- they're just add-on software layers. EIP and Profinet cannot coexist on the same robot, but just about everything else can.
(Profibus, Devicenet, and other "old" Fieldbuses may have to be connected to the Ethercat bus using Beckhoff adapter cards, which is one big reason EIP and PN are so much more popular)
Adding "virtual" connections on the KLI port may be necessary for EIP and PN, and the details are in the manual for each option package.
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I do have instruction manual for both KRC4 EthernetIP interface and ACF but instructions show how to connect to PLC, im not sure what needs to be done different for ACF.
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It's really just a matter of which unit is the Master and which is/are the Slave(s). You would simply follow the section of the manual that describes how to configure the Robot as an EIP master and add Slaves to it's scan list.
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Hello people,
Sorry for bringing this thread back up but i need a little help.
Here is where i got so far...
* Installed ENet IP on KRC4
* Pulled current project and opened it in workvisual.
* Installed EDS file for my ACF tool and updated the DTM.
* Added ACF in structure but can not mapp Bytes with Bool(see pictures) Im doing something wrong. I know if i group 8 bools i get 1 byte then i can mapp... is that what i need ?
What I understand next I need to enter IP adresses and mapp I/O?
Few pics -
Nobody?
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i have better things to do than download huge files... if you need help, read pinned topic READ FIRST and walk a mile in my shoes. any halfway decent picture viewer (and your phone) will have resample feature. i am using IrfanView and love it.
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Im really sorry about large pictures I fixed it .
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You can either
Click on pencil icon and edit signals (split or regroup) or
Simply select 8 bool on side for each byte on another side
Also you need to integrate KOP files from your tech packages Into work visual
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Thanks for your help...
I have mapped like you sad (see picture)
Installed EthernetIP.kop as well. -
but you still have some errors and warnings. try to clear them (right click on window and clear), then compile project and see if everything is ok
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Cleared WorkVisual errors/warnings deploed and that what i get on SmatrPad.
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so what is the IP address of your KLI? What are your virtual5 settings?
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So on the SmartPad i have this ip 172.17.255.1
But on the manual that came with robot is different Ip is 172.31.1.147 and Subnet is 255.255.0.0
Also see pics. -
you are using DHCP... that means every time you power up or connect to network you will get different IP address. AND your robot MUST be connected to a DHCP server that will provide that address.
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Okey, whats the next step from here? Should i change that to Fixed IP?
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