Hi !
I am trying to connect an Inspector PIM60 to a KUKA Robot KR6-R900 sixx to create a simple pick-and-place operation on top of a table.
My goal is to allow the KUKA robot to recognize different mechanical parts via the Inspector PIM60, then create different programs to play with the pick-and-place operations.
But i don't know how to establish the connection between the Inspector PIM60, the robot's smartPad and my computer.
I know how to connect, calibrate and use the inspector PIM60 to recognize and measure reference objects and i know how to manually program the KUKA Robot. But i don't know how to put this two together.
Edit : Sorry i've tried reading up on the subject to better explain my problem. Here goes :
The KUKA controller i am using is a KRC4. The vision sensor i'm using is an Inspector PIM60.
What i've done so far is :
Inspector PIM60 : SOPAS software
• Configured the inspector’s IP address
PIM60
IP address : 13.13.0.9
Subnet : 255.255.255.0
Gateway : 13.13.0.1
My PC
IP address : 13.13.0.5
Subnet : 255.255.255.0
Gateway : 13.13.0.1
KUKA KRC4
IP address : 13.13.0.20
Subnet : 255.255.255.0
Gateway : 13.13.0.1
• Calibrated the Inspector PIM60
• Established 2 reference objects : a rectangle and a square
• Configured the coordinates in radians and in mm (x,y,rot)
• Plugged the Inspector PIM60 into the KRC4’s X66 ethernet port
So, normally, there shouldn't be any communication problem between the 3 interfaces (robot, PIM60, computer) and the vision sensor should be set to transfer the coordinates of the parts it visualizes to the program configured on the robot.
SmartPad KUKA Robot
• Made a new .src file that contains all the subprograms that help initialize and connect to the PIM60
When i try to run this program (the one in the attached pdf), an error message shows that says « Ethernet connection to external system failed » and the program stops at line 35 (eki_s=EKI_Open...), so i suppose there’s a problem with the communication between the camera and the kuka.
I still haven't established a trigger and i still haven't configured the PIM60 to share the same frame as the robot. Because i don't know how.
I’ve searched on the internet and on the manuals and i don’t know how to fix this. Could someone tell me what i’m doing wrong ?