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
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
Sorry about that it´s my fist time and I didn't know how to make a thread
Thanks and have a good day
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 Moreyou 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).
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?
&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
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).
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