Thank you very much, you are kind as always! I’m going to solve the last things to connect the robot to my PLC (TwinCAT).
Thank you again for your time!
K-ROSET Lite Help!
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balrog -
March 12, 2019 at 11:09 AM -
Thread is marked as Resolved.
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No problem.
Post back if you have any issues, but it looks like you're grasping the mechanism nicely..... -
Hi again! I’m working now with the real robot, the code has been developed and optimized. I have a problem to register an user frame, know that in fanuc robots is possible to do by pendant. Tried first to register three points O1,X1,Y1 and then use the AS-function FRAME() to compute the frame F. Unfortunately, when i tried to test these positions, these don’t work as I expected. Any hints?
TIA -
Glad you're making progress.
No problem with assisting you with the FRAME.... Could you start a new Topic in the main forum outlining 'what results' and how you are using the FRAME command and I will be happy to assist. -
You can use this topic:
https://www.robot-forum.com/robotforum/kaw…me-instruction/
It is necessary to use FRAME function? Please describe what you are trying to do.
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You can use this topic:https://www.robot-forum.com/robotforum/kaw…me-instruction/
It is necessary to use FRAME function? Please describe what you are trying to do.
Saw now, i had already created a new one
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- A horrible pitfall when you forget to set the Server (Hercules) to listen (KROSET will bind a socket, even though it didn't connect/no error)...
Hi,
I tried to send a command beetween K-roset and Hercules.
I can't call "pcexe" and function : "DO TCP_CONNECT result,port_no,ip_adr[1],1;" . What can i do? -
Can I use this to send viarables and checked my program ?
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What is it you are intending on doing?
In order to establish communications between 2 devices, you need to first open a socket on and bind it to a port that will be used for the communication port between devices using the correct commands.
Hercules (as the server) would need to be 'listening on the same port' when the Kawasaki tries to connect.
PCEXE is not a communication command, but is used to execute a PC task within a Kawasaki controller.
Once you get a session established, you can exchange ASCII based string messages between them.
In order to exchange variables or instructions, you would need to send them from Hercules.
But in the Kawasaki, you would then need to 'decode' the received string message into the variable you wish to define/use etc
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I still have a problem with the connection and the command "DO TCP_CONNECT result, port_no, ip_adr [1], 1;" I can't open the socket
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Without ANY details, how can I help?
Hercules:
- Check firewall in windows allows Hercules communication.
- Check Hercules is set as Server.
- Hercules as Server as default, automatically can connect to 127.0.0.1
- Check Hercules is using same port number as you are using in TCP_CONNECT command - eg 22222
- Check Hercules is 'Listening'.
Kroset:
- Check firewall in windows allows Kroset communication.
- Check your IP variable array elements are set to correct ip octets.
- Check your port no. is same as Hercules.
- Check Kroset is in Repeat mode.
- Check Kroset has motor power enabled.
- Check DO TCP_CONNECT instruction is using correct variables.
I have discovered new command available to assist in making easier, attached is video of simple connection test.
You cannot send and receive messages using this unless you write a program and execute it in Kroset to do so.
As mentioned, the video is just demonstration of connection/disconnection between Kroset and Hercules.
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Sorry for the lack od details.
It helped in communication, thank you. But I think I made a mistake, because I thought i could send the information without writing the program. You start the "pcexe" command. I don't know what this file is. Text file or ".pg" program. I see that you have created some text files, but I can't use them. "Maybe in the futere I will know more and understand it. Thank you anyway -
Ah, you are referring to an attachment I made with automatic programs - Post #21.
Yes, PCEXE was used to execute that program, so you can test TCP/IP comms.
I made it in spare time.
You can use that attachment too.
If you download from Robot Forum and load file into controller/kroset, you can use also for testing.
Also, you may learn from code I used and then maybe create you're own.
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Yes this one.
How can i load ".txt" file to K-Roset. I see only ".pg" option
Now, I copy this to KIDE now, save as ".as" and load into K-roset -
You can place file in PG folder of Kroset Project folder.
The use Terminal in Kroset and type in:
LOAD tcp_client_v2.txt) and it will load file into controller, then you can execute from there.
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kwakisaki I've been following your forum thread and tried some of the TCP connection scripts posted. Very helpfull.
Unfortunatelly I've been struggling to connect to the K-ROSET server via Hercules. Connection is always rejected (probably due to already busy socket).
Strangely, shortly after opening the socket and TCP_LISTEN there is a TCP_ACCEPT (not triggered by me) and followed by recv: TEST DATA.
Please see the log below. Do you know what could trigger that automatic connection? I used the "filesave.txt".
Cheers,
Patryk
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Welcome to the forum...……………
That code is not actually mine, that is from balrog server.txt
I just modified it a little to resolve his issue he was having with it and as it stands, is not a finished solution and has many bugs.
The program sits listening until a client makes a request to connect.
Once K-Roset accepts the connection - a link is established between K-Roset and 'client' on port xxxxx.
Then K-Roset just keeps in a 'receiving mode' and will just display the text received and if it's a text that he is specifically looking for, ie ON or OFF.
This will then turn motor power on or off.
Have a look at the attached test clip associated with it.
So with what you have posted, if you are not actioning this from within Hercules TCP Client, it must be coming from another application you have running.
Are you sure you are using TCP Client in Hercules and not Test Mode?
P.S
I may have a look at making a separate thread for TCP/IP and dumping all of this in there, so don't be surprised in the next couple of days if you find your post vanished from here, but in the thread I create.
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Thanks for prompt reply. It's hard to say what is really causing this strange behaviour.
To ensure there is no other software that could cause it I even re-imaged my windows and reinstalled the K-ROSET only.
About a minute after successfull TCP_LISTEN I am getting an automatic TCP_ACCEPT and I am receiving TEST DATA statements shortly after with some regular one minute intervals. This is all done without any actions from my side apart from starting the software.
Hercules connection attempts (exactly like on your clip) end up with 10061 connection refused error (probably due to a busy socket).
Could it have anything to do with my K-ROSET license? I am currently on a 2 months trial license.
I am using filesave.txt bundle just to test the offline programming capability in K-ROSET. I would like to work on a continous path program that would allow my robot to process millions of movements in one program (for milling puropuses) and it's quite dodgy to do it on a real robot, hence K-ROSET sounded to me like an ideal environment for such projects.
On another note (off topic), having additional modules installed on controller D that support 7th axis (rotating table), do I need to reinstall the firmware to get the 7th axis enabled, or could it be done by readjusting robot settings file?
Cheers,
Pat
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Can you send small video clip of your example, including the K-Roset terminal screen and also Hercules?
What version of Hercules are you using, I was using old version 3.2.3.
If different than mine, can you tell me what version and I try and make test to see if I can simulate your problem?
I do not think trial license would cause this, as the information you are seeing is coming from outside of K-Roset application.
As explained, the 'text' messages you are receiving (100% guaranteed are not coming from K-Roset).
The program displays the received packet from the client only.
So something external to K-Roset on your PC must be causing this problem.
I would like to work on a continous path program that would allow my robot to process millions of movements in one program (for milling puropuses)
I have never done this, but would be interested to see how you progress as Kawasaki is not really designed for this purposes.
On another note (off topic), having additional modules installed on controller D that support 7th axis (rotating table), do I need to reinstall the firmware to get the 7th axis enabled, or could it be done by readjusting robot settings file?
Many people believe just by changing settings in the file backup can start extra functions as a short cut.
But I always recommend to discuss with Kawasaki distributor, they will offer assistance in these areas when additional features are to be added.
They are very approachable for these things.
No addition firmware is required for additional axes.
In real world, you need amplifier, motor and encoder and also to obtain servo file from Kawasaki distributor for correct servo parameters for motor used.
In K-Roset, servo software and amplifier is preset, so by using External Axis wizard function, you can easily add external axis to project in K-Roset.
But do not think you can use K-Roset as a shortcut to easily transfer project to controller, as many parameters and settings in K-Roset are specifically for simulation environment only.
Again, I always recommend discussing this with your Kawasaki distributor, but to try and create in K-Roset for external axis, no problem.
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Can you send small video clip of your example, including the K-Roset terminal screen and also Hercules?
What version of Hercules are you using, I was using old version 3.2.3.
I am using 3.2.8. But it occurs even without Hercules software on. Please find attached screen record.
Something is indeed connecting to this socket... but certainly it's not me.
I know that these robots are not design for milling as well as milion vectors paths... but I am stuck now with my ZX165U and I simply need to make it happen. I was thinking about a loop which would continously add new trans points and delete the old ones to free space. Not sure how fast is the data exchange with the actual controller via ETH - this could potentially give me some issues. Will dive into this once this TCP issue is solved
In regards to the the 7th axis, I already have a motor and the encoder (exactly the same as J2 motor (spare part)) so it should be fairly easy to copy the settings from J2 motor. Unfortunately I am still missing IGBT power module for the 7th axis... so I will need to contact the local Kawasaki support regardless.
Cheers,
Pat
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