Posts by yen_like_capoo

Quote from SkyeFire

Mode is a safety-critical function, and as such cannot be controlled from inside program code.

The Submit interpreters in KSS cannot execute motion commands (barring specifically-configured Async external axes), or commands that influence motion in realtime (changing $TOOL or $BASE, for example), with the sole exception of $OV_PRO and $OV_APPL.

Note: controlling $OV_PRO from the Submit is not advised.

An SPS program running an EKI channel in server mode could "listen" for input values from a PC, and execute specific commands based on those incoming variable values.

In this case, is there anyway to execute a motion command of Kuka after I send a command from my PC client through TCP socket?

Quote from hermann

Can't believe that. Set it back to 192.168.0.1, give it a try, instead of beating about the bush here, you can't make it worse than it is at the moment.

I am actually curious about one thing. The windows you say is the Ethernet I connect my PC and Robot after I minimize the HMI? I just want to know where can I change the internal ip address of Kuka. I am not goint to change it again. But I just want to figure out whether I accidentally change the internal IP.

BTW, I had change to 192.168.0.1, it is not working. And I had decide to recovery it. I will be cautious much more next time. I learned a lot from all of you, thank you!

Quote from SkyeFire

Did you change it in Windows, or in the KUKA HMI (under Setup>Network Config)?

Does your KRC have one, or more, NICs visible in Windows Control Panel? Normally on KRC4s there is only one, and that is the 192.168.0.1 dedicated to the virtual network driver.

I first change in Kuka HMI, from 172.31.1.147 to 192.168.50.11. Later the file share is not work, so I change in windows, similarily from 172.31.1.147 to 192.168.50.11. All mask I set up is 255.255.255.0

I remember just 1 NICs in KRC4.

Quote from SkyeFire

The KRC is running two OSs in parallel, Windows and VxWorks. They communicate through a virtual network. On a KRC4, if you change the IP settings in Windows, you are changing the Virtual network, and this usually breaks the KRC and requires a rebuild from the installation image. Normally, on a KRC4, the only network interface visible from the Windows Control Panel is the Virtual Network:

From the picture you show me, the internal IP address of Virtual Network is 192.168.0.1, but the Ip I change from is 172.31.1.147.

Moreover, the IP address I change is in the ethernet IPV4 that I connect my PC and KUKA controller. I make the change in setting->internet and network->network share center.

Quote

Only KUKA. No "other companies".

The KSR makes it possible to make your own image backups as protection against this kind of failure. The KSR is also the tool for (re)installing a factory image.

If you provide KUKA the serial number of your robot, they will normally provide a fresh factory installation image. This image will contain the core OSs, but probably nothing else. You'll probably need to re-install your option packages by hand afterwards. You should grab the contents of the D:\KUKA_OPT directory before installing a new image, just in case -- the installers for the KUKA Tech Pack options are saved there.

Quote

What netmask? If you used a netmask other than 255.255.255.0, it's possible you created a cross-talk between the Virtual network and the KLI.

Right, I set 255.255.255. Is 192.168.X.X the internal IP of KUKA? I remember just 192.168.0.X and 192.168.1 are the internal ip of KRC4.

Hi, I want to control my KUKA robot totally by an external PC recently. For example, the velocity of robot arm motion or changing mode is two of the most common functions in Kuka. Can I use PC to send message throught socket to Kuka to require it execute these task in KRL?

What I imagine is creating a src file and then the code inside it can directly change the velocity and mode. And this src file is exclusively to this task, no motion moving.

Quote from SkyeFire

The KRC is running two OSs in parallel, Windows and VxWorks. They communicate through a virtual network. On a KRC4, if you change the IP settings in Windows, you are changing the Virtual network, and this usually breaks the KRC and requires a rebuild from the installation image. Normally, on a KRC4, the only network interface visible from the Windows Control Panel is the Virtual Network:

Normally, the IP will always be as shown here.

Only KUKA. No "other companies".

The KSR makes it possible to make your own image backups as protection against this kind of failure. The KSR is also the tool for (re)installing a factory image.

If you provide KUKA the serial number of your robot, they will normally provide a fresh factory installation image. This image will contain the core OSs, but probably nothing else. You'll probably need to re-install your option packages by hand afterwards. You should grab the contents of the D:\KUKA_OPT directory before installing a new image, just in case -- the installers for the KUKA Tech Pack options are saved there.

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Thank you for replying. Then Is USB neccessary when I get the image file from KUKA? I am confused about how to use just a image file to recovery the kuka robot. Is there any manual about this?

Hello, I am currently doing the connection between KRC4 and my PC. I majorily use Qt and WinSock2.h to receive and send message to real KRC4. However, now it broke temporarily and I am curious about other ways to test my software.

My PC is a client, and KRC4 is a server. What I want to do is to design a background program and a main motion-executing program in KRC4. The background program can receive getting command from PC and then send the corresponding information like joint, position, and velocity etc. The main motion-executing program will run after KRC4 receive command like which src file in KUKA is required to be ran.

Is this task feasible in Kuka.Sim without Kuka.Officelite? I had already installed Kuka.Sim and Kuka.WorkVisual. Moreover, I also constructed a simple model to make KRC4 catch box on the ground to the track. What I want to know is the communication between my PC and virtual robot in simulation program.

Thank you guy.

Quote from hermann

You must reboot the controller with connected monitor, if that doesn't work, use different adapter, or monitor with dvi interface without adapter.

Thank you, I successfully used external monitor to log in the windows systems of KRC4!

Quote from hermann

I wouldn't be that pessimistic about connecting a monitor and keyboard, and change the ip address back to original. If you haven't done other fancy things.

Give it a try. It's faster than getting a Kuka USB stick, the controller already doesn't boot at the moment, so what should happen?

Thanks bro, I had tried and changed back the IP and Subnet Mask, and even the standard gateway. However, it is still not working.

Actually, I am curious about the IP I modified is windows or virtual network. Based on my research on the internet, I can only rely on USB restore if I change IP of virtual network.

When I change the IP at that time, I remember I change the ip 172.31.1.147 to 192.168.50.11. The original IP seemed to be the IP of windows, right?

I contacted the technician of Kuka and he introduced me a lot of ways, such as unplugging the monitor before powering on Kuka or unpluging the terminal of storage battery. To my sorrowness, they all failed. Maybe recovery USB is the only one way to solve this problem.

Quote from mit.fablab

finally (sorta) figured it out, thanks for the help!

Apparently the KR c4 SR has some issues where the IP addresses for the internal networks require a full system restore to change back to the default...why this is implemented this way is really beyond me.

did the full system restore with the USB, reloaded a known good project from work visual, and was back and running. Only took 1.5weeks to figure it out:/

like wes mentioned, I was able to directly plug a monitor, keyboard, and mouse into the control cabinet. For whatever reason, it got stuck at a logon screen that required a password that I didn't know. Restarted the control cabinet in winXP Safe Mode, added a new admin account, and did the rest of the configuration there. That prevented the smartHMI from automatically starting (which was giving me tons of problems)

If you are having problems, I would suggest unplugging the smartPAD like wes suggested

Hello, the same problem I encounter now. I accidentally change the internal IP address of KRC4 in its windows system. And now It consistently shows the message "Waiting for cycling connection."

I had changed back the ip address from 192.168.50.11, which I modify incorrectly, to its original setting, which is 172.31.1.147. However, for subnet mask, I forgot the original one of KRC4. Is it 255.255.255.0? Now, the property of my ethernet IP of KRC4 internal system is 172.31.1.147 and 255.255.255.0.

When I changed back, I unplug the ethernet cable, external keyboard, mouse, and monitor. I also turned off the power of KRC4. However, after I reopen the controller, it was still the same.

Quote from panic mode

Usb recovery stick is pricey. If you produce evidence that you own some software, any company will be ok providing you with a copy. This means you need to be KUKA client and you need to share system info such as serial numbers of the robot and KRC.

So getting default image and options should be no problem, because it is low effort support. But any work that goes beyond that is likely to be paid support (installing software, configuring system, etc ).

For example if you have access to usb stick and know how to use it, you can recover the system yourself, rather than having technician do it for you.

Still, you may really want to backup your system first, and recover anything worth saving before loading image that you get from KUKA

Thank you, so it is possible to only use image file from other companies or KUKA to restore my robot without USB, right?

By the way, I am a newcomer to KUKA. If I restore KRC4, which neccessary software I need to install to initialize this robot? Or I don't need to install anything actually? As for back up, can I just copy all files in KUKA windows systems to other external device like USB?

Quote from s2007.ravi

What is the IP addresses configured on KRC4?

Also check the IP addresses on the network cards on Windows, I mean in Windows Network and sharing centre look for the network adaptors and the IP assignments there.

May be they are changed because what you did on Windows may have some influence. There you will see a real network card which should be the KLI interface and a virtual card configured to communicate with SmartPad (WinCe). If these network settings are not matching with the original settings which you had before the issue happened then you are in trouble.

If you have another KRC4 then compare and do the same settings on this one.

I hope it should help you.

Thanks

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Hello, I also encountered the same question. I accidentally change the IP address in the windows network center of KRC4. And now I change the IP back by connecting an external monitor. I remember the original IP address is 172.31.1.147.

However, I forgot the original subnet mask. Is it 255.255.0.0? Now the subnet mask on my krc4 is 255.255.255.0. Does it matter? Because I still cannot fix the HMI after changing back the IP.

The error message is invalid connecting to controller.

Quote from SkyeFire

You have broken the KRC. Fortunately, only in software, not hardware.

Unfortunately, the only way to recover from this is to wipe the robot hard drive and re-install the Operating Systems from the beginning.

To achieve this, you will need a KSR (KUKA System Recovery) USB stick, and either a KSR backup image, or a clean "factory" hard drive image from KUKA. KUKA generally will provide that image for free (they will need the serial number of your robot), but the KSR stick will need to be purchased, unless you already have one.

I had watched the official video on the internet. The demo video only use a Kuka System Recovery USB stick to reboot the Controller.

You say that KUKA will provide image file for free. Should I also need to have the KSR stick to reboot my KRC4? To be more specific, I can get image files from Kuka for free, but I also need to have a USB stick to save those files, right?

Hello, I want to connect an external VGA screen to my KRC4 robot. I first purchased a connector between DVI and VGA. However, when I plugged in the cable, I could not see any image on the screen.

I had surfed some website. I found that RDP in Kuka Robot will block the DVI. Nevertheless, my kuka robot is currently broken due to some reasons. I cannot use my HMI now. All I wish to do is to go into the windows systems of Kuka Controller by this external screen and make some change to IP address to save my Kuka. All the information above is the suggestions told by technician from Kuka. So does anyone have similar experience on this issue?

Quote from SkyeFire

NOTE: before doing any of this, I STRONGLY recommend making a complete KSR hard drive image backup to ensure you can recover from any damage done to the file system, just in case.

Then how can I make a complete KSR hard drive image backup in Kuka KRC4? Should I do this inside the HMI or windows systems?

Quote from SkyeFire

You have broken the KRC. Fortunately, only in software, not hardware.

Unfortunately, the only way to recover from this is to wipe the robot hard drive and re-install the Operating Systems from the beginning.

To achieve this, you will need a KSR (KUKA System Recovery) USB stick, and either a KSR backup image, or a clean "factory" hard drive image from KUKA. KUKA generally will provide that image for free (they will need the serial number of your robot), but the KSR stick will need to be purchased, unless you already have one.

As I reply to panic mode, the technician told me that I only need to change back the IP address to solve this problem. All I need to do is connecting an external screen and then type the account and password to log in the windows system directly. Is this way the other solutions besides to methods you mention?

Quote from panic mode

the proper approach is to get informed before doing any changes. should have read the READ FIRST topic. it specifically warns against some pitfalls - this one included.

this also means also one need to make a suitable form of backup before any change. in this case (changing KRC network settings) creating full HDD/SSD image of the robot is the smart thing to do, because that is the only way to recover when things go wrong.

the next thing is to apply changes correctly. IP address is only part of settings, some IP address ranges are reserved and must not be used, etc. modifying network settings from Windows end is possible but need to be done safely. messing with RT interface is a bad idea.

fortunately, robot is not physically broken. get some help from KUKA and be more careful next time.

Thank you for your response. I had called KUKA right after this accident. He told me that I just need to connect an external screen and then modify the IP address back. Is this solution reasonable?

Hello, I am currently want to share files on my PC to Kuka Controller. However, when I change the IP address of ethernet network for TCP/IPv4 in windows systems of Kuka Controller (I minimize the HMI and went to the network setting of Controller like normal windows system)

I change that ip address to 192.168.50.10, which is the ip address of my PC client on the ethernet connection. However, now the Kuka Controller is no longer working. It had stayed in the same page for almost one hour.

What do I suppose to do? Am I breaking this robot arm?

Here is my connection between Kuka Controller and my PC:

Also, my advanced setting for Ethernet is completed.

However, I still cannot see the folder of Kuka Controller in my PC. When I use cmd to ping the ip address of Kuka, it seem to work. Now I am very confused, could you please help solve this problem?

Quote from SkyeFire

Yes:

Note: the Internal Subnets cannot be used for the KLI, so you must choose your IP and Subnet Mask to ensure there is no overlap between the KLI and any of the internal subnets:

The IP will be the IP of the robot. The port will be whatever port your EKI channel configuration exposed as a server. This is an example of an EKI server (using UDP, but TCP/IP is similar). In this example, any client application would need to open a connection to IP 172.31.1.63, Port 54601.

EKI is required to use rather high-numbered ports, in the 54000 range. You'll want to check the manual.

Code

<ETHERNETKRL>
    <CONFIGURATION>
        <EXTERNAL>
            <TYPE>Client</TYPE>
        </EXTERNAL>
        <INTERNAL>
         <IP>172.31.1.63</IP>
            <PROTOCOL>UDP</PROTOCOL>
            <PORT>54601</PORT>
            <ALIVE Set_Flag="553"/>
            <MESSAGES Logging="warning" Display="error"/>
            <BUFFERING Mode="FIFO" Limit="128"/>
        </INTERNAL>
    </CONFIGURATION>
    <RECEIVE>
        <RAW>
            <ELEMENT Tag="inBuffer" Type="BYTE" Size="128" Set_Flag="555"/>
        </RAW>
    </RECEIVE>
    <SEND>
        <RAW>
            <ELEMENT Tag="outBuffer" Type="BYTE" Size="128" Set_Flag="556"/>
        </RAW>
    </SEND>
</ETHERNETKRL>

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Same IP, different ports. EKI can support up to 3 simultaneous connections. Each connection needs to have its own XML configuration file, and use a unique port.

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Thank you for this brilliant explanation. I learned a lot and understood well. Apart from using Windows Shared folder, I want to ask whether I can use Filezilla to directly send my files to Kuka Controller?