Good afternoon, experts, nashol such an article can anyone know how to connect to cattle 2
KUKA IO
-
vto83 -
July 7, 2020 at 3:57 PM -
Thread is Unresolved
-
-
KUKA IO
This is a WIP documentation on the setup and usage of KUKA IO modules
IO Bus and Modules
Industrial IO Modules come in different filed buses depending on the KRC setup. DeviceNet, Profibus and EtherCat standards are available depending on the KRC. Most KRC use Beckhoff modules. Most common modules are digital IN, digital OUT, analog IN and analog OUT.
KRC IO Configuration
Important notice: Digital IO can be accessed individually as bits or can be addressed together as byte, representing the 8 IO on a module as a single value.
KR C3 and below
Configuration is defined on the iosys.ini file at
KRC/ROBOTER/INIT/iosys.ini
. Documentation is provided at the end of the same file. See an example iosys.ini.Inputs and Outputs syntax
Input
- INB means "input byte" (8-bit)
- INW means "input word" (16-bit)
- IND means "input double-word" (32-bit)
Output
- OUTB means "output byte" (8-bit)
- OUTW means "output word" (16-bit)
- OUTD means "output double-word" (32-bit)
For example:
INB0
is "input byte 0" (inputs 1..8) andINB1
is "input byte 1" (inputs 9..16)KR C4 and after
Configuration can be done using the WorkVisual software from KUKA, accessing the robot KRC via LAN. By knowing the Robot KRC LAN IP we can download the configuration on our local WorkVisual software. KRC bus structure is provided as a tree structure on the GUI. The IO Mapping tool is used to assign bus modules addresses to the KRC IOs.
Basic Arduino tests
Simple bidirectional communication between KUKA industrial IO modules and Arduino. Optocouplers are used to isolate both circuits for safety and to deal with the two different logic voltage levels: Arduino 5V and KUKA IO's 24V. This is a basic test circuit and should not be use for production.
Download the Fritzing
Download also the Arduino example firmware
Arduino Shield
We recommend the Electan Relay Control shield in order to simplify the work on the optocoupler circuit below. This provides 8 digital 0-24V outputs and 4 digital optoucoupled 0-24V inputs.
http://www.electan.com/relay-control-…-p-3266-en.html
KRC Buses
This is a short introduction to the KRC buses for internal and external communication with the robot.
This information must be always checked against the robot KRC original documentation
Kuka buses
- KCB Kuka Controller Bus (used for robot motion)
- KSB Kuka System Bus (used for connecting smartPad and robots together for purpose of roboteam)
User buses
- KEB port X65 Kuka Expansion Bus (adding EtherCat I/O, or through EtherCat adding legacy busses like DeviceNet and ProfiBus)
- KLI port X66 Kuka Line Interface (used for connecting to everything else: PLCs, safety PLC, Work Visual machine, ProfiNet, EthernetIP, Kuka Ethernet XML)
- KONI Kuka Options Network Interface (currently used for robot guidance using CV)
- KSI port X69 Kuka Service Interface (Robot servicing by KUKA)
-
massula
July 7, 2020 at 5:02 PM Approved the thread. -
I guess this meant to say:
"Good afternoon, experts, I found this article. Can anyone tell how to connect to KRC2?"
Linked article shows how to interface Arduino with KRC using I/O.
This means functional I/O need to exist on KRC or would need to be added and mapped by modifying IOSYS.INI.
I/O level shifting was done with couple of discrete components, building 2xDI and 2xDO handshake lines.
Btw. used optocouplers have output rated up to 70V which makes them suitable for interfacing to industrial I/O operating at 24VDC. Also they have CTR of at least 100% meaning that output current can be at least as large as input current (unless limited by something else).
my biggest concern are the used 1k resistors on the 24V side...
they work as current limiting resistors on the KRC->Arduino optocouplers means that input current is about 24mA. and 24mA is what optocoupler output would ensure if it wasnt for 10k load resistors. power rating of resistors is not mentioned. Fritzing shows them as 1/4Watt which is common size for prototyping and working with breadboard. but 1/4 Watt is insufficient for the 1k resistors, they really should be at least 1Watt to be used as shown.
the other way around, Arduino->KRC, optocoupler has current limiting resistors of 220 Ohm, which is reasonable. But the 24V side again is 1k which need to be 1W at least or the resistance value need to be changed to stay within 1/4Watt envelope. replacing those 1k resistors with 4k7 1/4Watt would have been better choice.
rest is to do with programs on both sides (KRC and Arduino).
-
and how to connect on a robot devaysnet 5 wires and in this diagram 6
-
DeviceNet would be used to add I/O to the robotcontroller. this has been discussed many tomes on the forum, just look it up. if you need assistance, post details of your setup (exact KSS version, used DeviceNet slave, wiring etc)
-
I just don’t get pins where to connect, Arduino has more ends to connect
-
you don't connect Arduino to DeviceNet...
Devicenet is a bus with high speed serial signals with data wrapped into a message with whatever protocol.
I/O are low speed parallel signals that are already decoded and ready to use.
if you want Arduino to act as a DeviceNet slave, try something like this:
-
Yes, thanks. I understand you. I will purchase a device and try to link the results. I’ll post it here.