Posts by kukauser1

Hello everyone,

I'm currently working on a project that involves controlling a Mitsubishi industrial robot (RV-2FD) using a Raspberry Pi 4B, and I would really appreciate your insights and suggestions.

Project Overview:

The aim of my project is to perform visual inspection on copper pipes used in systems like air conditioners, dryers, and refrigerators — specifically at their welding joints, where cooling gases (like freon) are used. I want to detect possible defects or leakage points using image processing, and then guide the Mitsubishi robot to those coordinates for further inspection or marking.

Here’s how I plan to approach it:

• I'm using OpenCV on Raspberry Pi for real-time image processing.
• A camera module attached to the Raspberry Pi will capture images of the copper pipe welds.
• I’m creating a custom dataset of defective and non-defective weld joints to train a model for detection.
• The image will be processed on the Raspberry Pi, and defect coordinates will be extracted from the image.
• These coordinates need to be translated into robot motion commands so the Mitsubishi robot can move to the detected defect points.

Communication & Integration Questions:

1. What is the best way to establish communication between the Raspberry Pi and the Mitsubishi robot? Are there supported protocols like serial (RS-232), Ethernet/IP, CC-Link, Modbus TCP, or any others that are compatible with both?
2. Would it be better to use a PLC as an intermediary, or is direct communication between the Raspberry Pi and the robot feasible?
3. Are there software tools, SDKs, or APIs available for Mitsubishi robots that can be integrated with Raspberry Pi (Linux-based OS)?
4. How can I send coordinates from the Raspberry Pi to the robot controller? Is there a standard for converting image coordinates to robot world coordinates?
5. Can the robot receive commands from external systems (e.g., via socket communication, HTTP, or a serial port)?
6. Are there any existing examples or libraries (open-source or vendor-provided) that could help bridge Raspberry Pi with Mitsubishi robots?

Ultimately, I want to make the Raspberry Pi act as both the vision system and the decision-making unit, while the Mitsubishi robot executes the movements based on the coordinates extracted from image analysis.

Any documentation, tutorials, experience-based suggestions, or links to similar projects would be extremely helpful. I want to ensure the feasibility and optimize the architecture before finalizing the system.

Thanks in advance for your help!

Hello everyone,

I'm currently working on a project that involves controlling a Mitsubishi industrial robot (RV-2FD) using a Raspberry Pi 4B, and I would really appreciate your insights and suggestions.

🛠 Project Overview:

The aim of my project is to perform visual inspection on copper pipes used in systems like air conditioners, dryers, and refrigerators — specifically at their welding joints, where cooling gases (like freon) are used. I want to detect possible defects or leakage points using image processing, and then guide the Mitsubishi robot to those coordinates for further inspection or marking.

Here’s how I plan to approach it:

• I'm using OpenCV on Raspberry Pi for real-time image processing.
• A camera module attached to the Raspberry Pi will capture images of the copper pipe welds.
• I’m creating a custom dataset of defective and non-defective weld joints to train a model for detection.
• The image will be processed on the Raspberry Pi, and defect coordinates will be extracted from the image.
• These coordinates need to be translated into robot motion commands so the Mitsubishi robot can move to the detected defect points.

🔌 Communication & Integration Questions:

1. What is the best way to establish communication between the Raspberry Pi and the Mitsubishi robot? Are there supported protocols like serial (RS-232), Ethernet/IP, CC-Link, Modbus TCP, or any others that are compatible with both?
2. Would it be better to use a PLC as an intermediary, or is direct communication between the Raspberry Pi and the robot feasible?
3. Are there software tools, SDKs, or APIs available for Mitsubishi robots that can be integrated with Raspberry Pi (Linux-based OS)?
4. How can I send coordinates from the Raspberry Pi to the robot controller? Is there a standard for converting image coordinates to robot world coordinates?
5. Can the robot receive commands from external systems (e.g., via socket communication, HTTP, or a serial port)?
6. Are there any existing examples or libraries (open-source or vendor-provided) that could help bridge Raspberry Pi with Mitsubishi robots?

🎯 Goal:

Ultimately, I want to make the Raspberry Pi act as both the vision system and the decision-making unit, while the Mitsubishi robot executes the movements based on the coordinates extracted from image analysis.

Any documentation, tutorials, experience-based suggestions, or links to similar projects would be extremely helpful. I want to ensure the feasibility and optimize the architecture before finalizing the system.

Thanks in advance for your help!

Thank you for replying Hermann. Can you be more specific about how to set group i/o's and how to send them to kuka is there a document that I can look at?

I actually wanted to do that getting the current location data from Kuka and making some math inside the TIA Portal and we can set the new location to robot. Is there a way to make this?

Hey guys,

We are trying to control our KRC4 Kuka robot with Siemens S7-1200 Plc. We don't have MxAutomation licence and we want to control without MxAutomation. How we can make this? Any idea of this topic?

Thank you so much Panic Mode we can connecting to the slave and master to each other so the problem is solved. Our main problem was there is a program in the Krc4 and it always trying to connect previous PLC. If you want to connect kuka to plc second time you should reset your kuka or delete the previous project on your robots memory. Thank you again!

Okay I got it. I think I added the true gsdml files to the tia portal. But where is the problem Panic Mode I need some help to connect this devices. We cannot connect them effectively.

We added gsdml files to the tia portal but do we need to add gsd files to tia portal? We should add them at the same time or just gsd files? And where we can find them in minimize hmi panel in robot folders?

Any idea?

Hello guys,

We try to connect kuka and S7-1200 (1214C-DC/DC/DC-V3.0) using PROFINET. We configure kuka profinet interface correctly; naming device, IO mapping and IP setting but still can't connect. We can see PLC from KUKA's PROFINET list. Could you suggest any other advice we can do? Details in attachment. Thanks in advance.

Yes we changed the windows ip to automatic and now the smartpad cannot connect to the krc. We tried the suggestions who also asked this forum. Sorry about the low info about the problem. IMG_2757.jpgIMG_2757.jpgIMG_2756.jpg Our problem looks like that. Smartpad cannot see the krc. We changed back to the standart version of the ip but it didn't connect each other. We tried to factory reset of smartpad which we pressed the menu button and the second axis +- buttons at the same time. But the factory reset give an error while reseting it says bad block and it skipped that 17%.

Hello everybody we changed the krc4 compact Ip to auto and now we can't use the smartpad anymore. Smartpad says cannot communicate with krc4 and probably their ips are different. Can anyone help us to solve this problem? We tried lots of thing thanks to this forum.