Hi Guys: I'm doing an experiment, that is, when the kuka robot performs force control assembly, it can use the PLC to read the force value in real time, I use ATI's six-dimensional force sensor, and now I have established communication between the sensor and the PLC, but when the robot performs force control, it always reports an error. please see the attached video and document
KUKA KSS00489 error issue
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zhaojing -
December 12, 2023 at 4:42 AM -
Thread is Unresolved
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Nation
December 12, 2023 at 5:17 AM Approved the thread. -
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What model KUKA robot?
What model KRC?
What KSS version?
Are you using KUKA Force-Torque control and/or RSI? How did you configure them?
How is the force data between transferred between the PLC and KRC?
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1.The Kuka robot model is KR60_3
2.The model KRC is KR C4
3. The KSS version is 8.5.8
4. I'm using KUKA Force-Torque control ,I used a TP link switch to communicate Siemens' PLC and six-dimensional force sensors with the KUKA robot, so that the force value could be read from the PLC when the robot performed force control, The sensor IP is 192.168.1.1, the PLC IP address is 192.168.1.100.
5.I have another question is How to upload files using this interface
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I used a TP link switch to communicate Siemens' PLC and six-dimensional force sensors with the KUKA robot,
What protocol? Is the PLC reading the force values and sending them to the KRC, or is the KRC connecting to the FTC sensor directly?
How have you configured your FTC application on the KRC?
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I use the Profinet protocol
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The KRC is connecting to the FTC sensor directly, I have configured My FTC application on the KRC, My sensor 's IP is 192.168.1.1, The Virtual6(FTC) IP is 192.168.1.5 ,My PLC ip is 192.168.1.100
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The KRC is connecting to the FTC sensor directly, I have configured My FTC application on the KRC, My sensor 's IP is 192.168.1.1, The Virtual6(FTC) IP is 192.168.1.5 ,My PLC ip is 192.168.1.100
I assume you are using subnet mask 255.255.255.0?
On this Profinet bus, which devices are Masters and which are Slaves? The ATI sensor cannot be a Master, and it probably cannot be a Slave to two different masters in parallel.
Again, how is your FTC application configured?
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Now I don't use a PLC, I also get this error when I connect the sensor directly with the robot
1. KLI Windows Interface (virtual 5):
Interface designation: KLI
Address Type: Fixed IP Address
IP Address: 172.31.1.147
Subnet mask: 255.255.0.0
Standard Gateway: 0.0.0.0
Windows Interface can be selected
2. vistual6 (FTC)
Interface designation: FTC
Address Type: Mixed IP Address
IP Address: 192.168.1.9
Subnet Mask: 255.255.255.0
Receiving Task: Reception filter=Target subnet
Real-time receiving Task: Reception filter=UDP
The sensor IP address:192.168.1.1
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you keep mentioning network settings but... did you do ANYTHING else? how did you configure and program RSI? where are those settings and your code?
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How can I check my RSI configuration and program?
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You Read the manual, play with provided examples and then create gour own....