ROBOT KUKA WITH MODULE ETHERNET KRL

Alexis Moctezuma · Apr 27th 2022

Hi my name is Alex, I need your help

Please help mee,

I have communication ready with a KUKA ROBOT with the KRL MODULE, but I don't know how to start the robot, I can receive and send information

Fubini · Apr 27th 2022

Thread

READ FIRST...

how to post correctly:

1. be a good citizen and follow common sense. this includes no sharing or asking for copyrighted material. such posts will get you banned (because we don't want Kuka legal team stepping in and request ban on all manuals). an example of something that will get you in trouble is any material from Kuka College.

1.5 make SURE to post in the right forum section (manuals in manuals section, IIWA and Sunrise topics in IIWA section). see attached example for IIWA... sigh..

Please…

panic mode

Jun 5th 2016

Alexis Moctezuma · Apr 27th 2022

Sorry about that it´s my fist time and I didn't know how to make a thread

Thanks and have a good day

**panic mode** · Apr 27th 2022

you need to describe the problem. so far we know nothing...

* specify system info. this is software question so KSS and EthernetKRL version would be expected.

* specify what is it you are trying to do and how (how to reproduce the problem?)

* post sample code that you are trying to use

if i am not mistaken, you used KRL module for EKI and running it in robot interpreter works. but since there is only one robot interpreter, you don't see a way to have the EKI communication work at the same time you try to run some robot program (motion program).

Alexis Moctezuma · Apr 27th 2022

Quote from panic mode

you need to describe the problem. so far we know nothing...

* specify system info. this is software question so KSS and EthernetKRL version would be expected.
* specify what is it you are trying to do and how (how to reproduce the problem?)
* post sample code that you are trying to use

if i am not mistaken, you used KRL module for EKI and running it in robot interpreter works. but since there is only one robot interpreter, you don't see a way to have the EKI communication work at the same time you try to run some robot program (motion program).

Display More

I´m using Robot KUKA KRC4 COMPACT KSS 8.6 AND A ROBOT KR 10 R1100-2

We are using ETHERNT KRL 3.1 for connect to robot, we have the comunication, we can receive and send information, We are using a Submit for run the comunication, but we don´t know how to start robot with this drive, is THERE a way to start the robot?

Code

&ACCESS RVO

&COMMENT Ethernet TCP Communication

DEF XmlClient ( )

DECL EKI_STATUS RET

INT i

RET.Connected = FALSE

FOR i = 1 TO 10

VarBool[i] = FALSE

ENDFOR

LOOP

IF RET.Connected THEN

RET = EKI_SetBool("EthernetTCP", "Out/X01", $PRO_ACT)

RET = EKI_SetBool("EthernetTCP", "Out/X02", $RC_RDY1)

RET = EKI_SetBool("EthernetTCP", "Out/X03", $STOPMESS)

RET = EKI_SetBool("EthernetTCP", "Out/X04", $ALARM_STOP)

RET = EKI_SetBool("EthernetTCP", "Out/X05", $PERI_RDY)

RET = EKI_SetBool("EthernetTCP", "Out/X06", $I_O_ACTCONF)

RET = EKI_SetBool("EthernetTCP", "Out/X07", $USER_SAF)

RET = EKI_SetBool("EthernetTCP", "Out/X08", $ROB_CAL)

RET = EKI_SetBool("EthernetTCP", "Out/X09", $ALARM_STOP_INTERN)

RET = EKI_SetBool("EthernetTCP", "Out/X10", $OUT[PGNO_REQ])

RET = EKI_SetBool("EthernetTCP", "Out/X11", $OUT[APPL_RUN])

RET = EKI_SetBool("EthernetTCP", "Out/X12", $PRO_MOVE)

RET = EKI_SetBool("EthernetTCP", "Out/X13", $IN_HOME)

RET = EKI_SetBool("EthernetTCP", "Out/X14", $IN_HOME)

RET = EKI_SetBool("EthernetTCP", "Out/X15", $IN_HOME)

RET = EKI_SetBool("EthernetTCP", "Out/X16", $IN_HOME)

RET = EKI_SetBool("EthernetTCP", "Out/X17", $ON_PATH)

RET = EKI_SetBool("EthernetTCP", "Out/X18", $NEAR_POSRET)

RET = EKI_SetBool("EthernetTCP", "Out/X19", $ROB_STOPPED)

RET = EKI_SetBool("EthernetTCP", "Out/X20", $T1)

RET = EKI_SetBool("EthernetTCP", "Out/X21", $T2)

RET = EKI_SetBool("EthernetTCP", "Out/X22", $AUT)

RET = EKI_SetBool("EthernetTCP", "Out/X23", $EXT)

RET = EKI_SetInt("EthernetTCP", "Out/X24", PGNO_FBIT_REFL)

RET = EKI_Send("EthernetTCP","Out")

IF $FLAG[2] THEN

RET = EKI_GetBool("EthernetTCP","In/Y01",VarBool[1])

RET = EKI_GetBool("EthernetTCP","In/Y02",VarBool[2])

RET = EKI_GetBool("EthernetTCP","In/Y03",VarBool[3])

RET = EKI_GetBool("EthernetTCP","In/Y04",VarBool[4])

RET = EKI_GetBool("EthernetTCP","In/Y05",VarBool[5])

RET = EKI_GetBool("EthernetTCP","In/Y06",VarBool[6])

$EXT_START = VarBool[1]

$MOVE_ENABLE = VarBool[2]

$CONF_MESS = VarBool[3]

$DRIVES_OFF =VarBool[4]

$DRIVES_ON = VarBool[5]

$I_O_ACT = VarBool[6]

ENDIF

ELSE

IF NOT RET.Connected THEN

RET = EKI_Init("EthernetTCP")

RET = EKI_Open("EthernetTCP")

ELSE

RET = EKI_Clear("EthernetTCP")

ENDIF

ENDIF

ENDLOOP

Display More

We try to associate the variables that we send to the system variables, but this is not possible because they are write-protected

**panic mode** · Apr 27th 2022

to run robot program you need to select program, enable drives, acknowledge messages and issue start.

in T1/T2/AUT mode all of those things are done manually - using smartPad.

in EXT mode it is possible to do that from external controller (PLC/Computer/another robot...). But... this requires using inputs and outputs. And Ethernet KRL is not able to write to inputs so you have to use a workaround.

You would need to map/connect few inputs to free outputs, have your communication signals control those outputs (and the outputs will activate corresponding inputs).

ROBOT KUKA WITH MODULE ETHERNET KRL

Advertising from our partners

How to see your Job Posting (search or recruit) here in Robot-Forum.com

Robotics Technician - Detroit/Ann Arbor area - Radwell International

Share

Similar Threads

Real Time external control of Kuka using RSI

KRC4 8.8.5 CIP safety

Tags