KUKA KR C2 RS-232 TO PLC RS-232

m.dinio · June 9, 2024 at 8:49 PM

Hello dears,

my problem is : when i want to comminucate kuka kr c2 (5.6.5) rs-232 (COM3) to my delta plc rs-232 ,nothing sent or nothing received !

but when i comminucate kuka kr c2 (5.6.5) rs-232 (COM3) to my laptop connection is ok.

Code

DEF final( )
;FOLD INI
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3 
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD USER INI
    ;Make your modifications here
     ;FOLD COLLISION_V_3.01 INI ;%{E}
        IF (COLLISION_DATA[1].I_NR>0) THEN
          GLOBAL INTERRUPT DECL 21 WHEN $IN[COLLISION_DATA[1].I_NR]==FALSE DO COLLSTOP (1,0 )
        ENDIF
        IF (COLLISION_DATA[2].I_NR>0) THEN
          GLOBAL INTERRUPT DECL 22 WHEN $IN[COLLISION_DATA[2].I_NR]==FALSE DO COLLSTOP (2,0 )
        ENDIF
        IF (COLLISION_DATA[3].I_NR>0) THEN
          GLOBAL INTERRUPT DECL 23 WHEN $IN[COLLISION_DATA[3].I_NR]==FALSE DO COLLSTOP (3,0 )
        ENDIF
        IF (COLLISION_DATA[4].I_NR>0) THEN
          GLOBAL INTERRUPT DECL 24 WHEN $IN[COLLISION_DATA[4].I_NR]==FALSE DO COLLSTOP (4,0 )
        ENDIF
     ;ENDFOLD (Collision)
	 HaltPunktEndeInit()
  ;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD ; Anlagenbezeichn:        Stations-Nr:;%{PE}%R 5.6.13,%MKUKATPBASIS,%CCOMMENT,%VNORMAL,%P 2:Anlagenbezeichn:               Stations-Nr:
;ENDFOLD
;FOLD ; Stand / Version:;%{PE}%R 5.6.13,%MKUKATPBASIS,%CCOMMENT,%VNORMAL,%P 2:Stand / Version:
;ENDFOLD
;FOLD ; Name Bearbeiter:;%{PE}%R 5.6.13,%MKUKATPBASIS,%CCOMMENT,%VNORMAL,%P 2:Name Bearbeiter:
;ENDFOLD


;FOLD PTP P0 Vel=100 % PDAT0 Tool[0] Base[0];%{PE}%R 5.6.13,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P0, 3:, 5:100, 7:PDAT0
$BWDSTART=FALSE
PDAT_ACT=PPDAT0
FDAT_ACT=FP0
BAS(#PTP_PARAMS,100)
PTP XP0 
;ENDFOLD
MW_T=#SYNC
IR_VALUE=0
IR_VALUE2=0
IR_VALUE3=0
MR_T=#ABS
TIMEOUT=10.0
OFFSET=0
COPEN(:SER_3,HANDLE)


IF(HANDLE==0) THEN
HALT
ENDIF
CWRITE(HANDLE,SW_T,MW_T,"%s","start")

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**panic mode** · June 9, 2024 at 9:25 PM

so what have you done to troubleshoot it?

are you sure that wiring to PLC is correct?

are you sure that PLC port settings are correct?

are you sure that PLC does something about it? does it open port...? does it read buffer...?

RS232 communication requires that both sides use correct (and same) port settings. that included baud rate, parity data bits, stop bits...

also wiring need to be correct. Tx/Rx need to be crossed (null modem). Tx from KRC need to go to Rx of PLC and the other way around.

The minimum RS232 wiring is:

Tx-> Rx

Rx<- Tx

GND<-> GND

but if you are using hardware handshaking, additional connections are needed.

also some PLCs use different pinout. Omron PLC used GND on pin9 instead of usual pin 5.

and both side need to use same message format (protocol). if you are using HyperTerminal on PC, you may not see things correctly. RealTerm allows you to see thing in hexadecimal which is a must when troubleshooting.

and if you expect to see anything sent from one node to another both nodes need to connect and handle messages. did you only send single message? are you sure you did not just miss it? how about having KRC use a loop and keep on sending something over and over (with a slight delay like 1sec..)?

m.dinio · June 9, 2024 at 9:48 PM

i think my problem is on kuka proc setting xon xoff , may i change it to none or no?

**panic mode** · June 9, 2024 at 10:17 PM

xon xoff is a software handshake /flow control. if you are not using it, change it to none.

3 easy steps to understand and control your RS232 devices

This article will explain the following topics in details:1) Step 1: Understand RS232 Connection and Signals2) Step 2: Learn about the Protocol3) Step 3:…

www.commfront.com

m.dinio · June 9, 2024 at 10:26 PM

[COM3]

BAUD=9600
CHAR_LEN=8 ; 7,8
STOP_BIT=1 ; 1,2 at time not changeable
PARITY=2 ; EVEN=2, ODD=1, NONE=0

PROC=1 ; 3964R=1, SRVT=2, WTC=3, XONXOFF=4

How can i change it to none in kuka( serial config)

**panic mode** · June 9, 2024 at 11:50 PM

don't know... have not seen anything that old in a while. check documentation to see what is supported. you may also find comments in the INI files.

hermann · June 10, 2024 at 6:10 AM

Quote from m.dinio

[COM3]
BAUD=9600
CHAR_LEN=8 ; 7,8
STOP_BIT=1 ; 1,2 at time not changeable
PARITY=2 ; EVEN=2, ODD=1, NONE=0
PROC=1 ; 3964R=1, SRVT=2, WTC=3, XONXOFF=4

How can i change it to none in kuka( serial config)

If this is your config, you haven't xon/off, you have 3964R. But I doubt that, because you have communication with laptop. You won't have communication with laptop and 3964R unless you use special software on laptop. Normally xon/off isn't a problem, because as long as you haven't sent a xoff, the robot will send.

**SkyeFire** · June 10, 2024 at 9:03 PM

Quote from m.dinio

i think my problem is on kuka proc setting xon xoff , may i change it to none or no?

In SERIAL.INI, look for the XONXOFF section:

Code

[XONXOFF]
CHAR_TIMEOUT=50      ; msec   Timeout after last received character
                     ;        to recognize the end of telegram
MAX_TX_BUFFER=2      ; 1..5
MAX_RX_BUFFER=2      ; 1..20
SIZE_RX_BUFFER=100   ; 1..2048 longest expected telegram length + 15 characters

XON_VAL=17           ; 0..255  XON  character (decimal)
XOFF_VAL=19          ; 0..255  XOFF character (decimal)
                     ; if XON_VAL=0 and XOFF_VAL=0 then XON/XOFF protocol
                     ; is disabled (pure serial communication)
DSR_LINE=0           ; 0 = DSR line not connected, 1 = DSR line must be high

[TEST]
;testprint (Rx/Tx-telegrams) on telnet if value > 0
TESTPRINT=0

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MOM · June 10, 2024 at 9:33 PM

XON_VAL=0 ; XON deactivated
XOFF_VAL=0 ; XOFF deactivated

(make only sense by sending and recieving data in binary format)

What is the telnet saying? YOu also should have a menu intem showing the ser. comms

MOM · June 10, 2024 at 11:12 PM

In the thread RS232 to KRC2 KUKA I asked about the protocol both sides will accept.

Is your plc accepting the XON/XOFF protocol?

m.dinio · June 11, 2024 at 3:02 PM

my problem solved with configuring plc and serial.INI

KUKA KR C2 RS-232 TO PLC RS-232

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