Posts by massula

I'm not 100% sure, but I believe .pripost files are Autodesk PowerMill postprocessors.

Try to open them with Notepad++ and look inside. If I'm correct, it use the xml syntax.

You will need to ask Siemens for this documentation.

The last information I had some time ago is that, besides Process Simulate and Roboguide themselves, You will also need to have Siemens VRC Server for FANUC and FANUC PCDK softwares (and their respective licenses) to act as a "men in the middle" of Your system.

Quote from dmartins

Thank you for your answer.

What about KUKA Sim? I know I can simulate and program the robot in it but soon I intend to integrate another devices with the robot and I was wondering if it is possible to program and test the applications on KUKA Sim and integrate it with ROS?

I didn't played with KUKA.Sim 4.x series yet, so maybe thing changed in these newer versions, but as far I can tell, KUKA.Sim can simulate and export programs just for robots that use KRC controllers. iiwa use Sunrise controller. Is a different product.

To my knowledge, the only simulation software oackage that have the riiwa obot models in their library and also can export the paths to Java is RoboDK.

Anyway, I would suggest check with KUKA if You can simulate an iiwa with KUKA.Sim. Or even ask in iiwa section here in the forum what solutions people use to simulate these robots.

MENU > NEXT > STATUS > PROFINET also indicate the firmware version and another information about the CP1604.

If this not work, I woul ffollow DS186 advice and look directly in the board, with an browser or Proneta tool.

Ok.

Changing the software version will not work on Roboguide, as You could see.

But You can try to use kconvars utility to convert the profibus.sv file to a readable profibus.va file. This way You can see the parameters used to configure ProfiBus inside Your backup.

More details here:

VR files/

What is the robot software version? The real robot, I mean.

I didn't.

Profibus screen juts work with FRVRC 8.30 or above.

As far I can tell, in older versions is not possible to use it.

As far I can tell, Gazebo is used more to create the virtual environment, but not to control the robot. To do this, You also would need to use Move-it os some other package like that.

Control the robot means that ROS can stream the movements commands directly to the robot, and also read its current position.

But I'm not sure if there is any pre-processor that can read iiwa Java code written elsewhere and convert it on something ROS would understand.

To simulate and iiwa, the closer option I found was RoboDK. Again, I'm not sure if You can import Java code easily in it. But You can program the robot paths and export these movements from it.

Se você tentar instalar esses FRVRC mais antigos separadamente no Windows 10 ou Windows 11, vai mesmo ocorrer esse erro.

Nesse caso, a melhor opção é reinstalar o Roboguide, e selecionar todos os FRVRC disponíveis. Vai demorar mais, mas vai evitar essa situação.

Quote from stiropor123

If I understand we can not swap this old PC with some newer one? Right?

You can swap some parts, but it wouldn't work, because what really controls the robot isn't Windows, but VxWorks, a realtime operatiing system that runs in parallel with Windows, and this combo is normally called VxWin.

By its nature, VxWorks is way more limited regarding storage space. Even if You increase HDD space, swap RAM and so on, VxWorks will continue being the bottleneck of the system.

About loading the files, if You want some kind of automation, You can break Your programs in smaller pieces and write KRL code to delete a finished program from memory and load a newer part from a folder on robot D: drive or an external drive. But this would be tricky.

Best option would be using one of the (paid) options provided by KUKA, that will "stream" the paths to the robot, while it is executing the program.

Quote from stiropor123

First of all, there seems to be very low limit on what we can upload/copy to KRC. It's below 10 MB. (It works up to for 6 - 7 MB, perhaps more, but 12 didn't go trough.)
Is there a way of increasing this?

Short answer: unfortunately, no.

The bottleneck, in this case is VxWin, not the Windows or the PC hardware.

In these cases, what can be done is load/unload parts of the program while robot is working, or use some software option, like KUKA.CNC or KUKA DirectoryLoader.

And just now I noticed the original message was posted almost a month ago.

Well, better later than never.

The user frame You are using on the real robot is a real user frame, or the same theoretical frame used inside MotoSim?

Because if You are using the same value on both real and virtual robots, maybe this is the problem.

Best practice would be create a real user frame (and a real tcp as well) on the real robot, on the same place it is located on the virtual environment.

You probably will get different values, but this difference is exactly what robot needs to know.

Payload and Armload data are the same in virtual and real robots?

Quote from snewk

I'm not familiar with WorkOnline. Google doesn't seem to return much, but I see you've mentioned it a few times on the forum. Will read more about this, thanks.

WorkOnline is very handy, and I use it wenever I can.

Basically, WorkVisual create a repository containing a copy of KRC folder (and, depending on the options installed on the robot, some other folders, as RSI, for example) in the computer where it is installed.

So You can edit these local files, even with third party tools, and synchronize/upload them later from WoV, without the need to deploy a full project.

In my specific case, I make the sync by hand, and also need to go to the Smartpad and accept remote access there. But once the access is enabled on the robot, I don't need to get up from my chair anymore.

Newer versions of WorkVisual had some interesting features that I never dig deeper, but maybe can help You in this project.

Besides WonkOnline, if You open Programming and diagnoses Workspace in WorkVisual, You will see three tools, Update manager, Rollout Manager and Bundle Manager.

WorkVisual also have a scripting feature, done by wvsr.exe program.

I'm guessing (emphasis on guessing) that You can map the repository folder within Git, and use some combination of these three managers plus the scripting features to make sort of automation on syncing between the WoV repo and KRC controller.

You can see WorkOnline in action in the playlist below. Please note that these videos were produced for WoV 4.x. So things may got changed since them.

When You say copying files manually to WorkVisual, are You saying that these files are being inserted on WorkVisual Project, or in WorkVisual repository created by WorkOnline function?

I was doing some research on old Motoman documentation, and something got my attention.

Job Editor NX manual cites that its predecessor was a piece of software called MRC-World.

This was odd, in the first place, because its predecessor was Job Editor XRC, IIRC.

And Job Editor XRC cites its predecessor as MRC Editor, not MRC-World.

Anyway, since Motoman has the habit to produce different software with almost the same functionality, I'm curious to know if really there was something called MRC-World, or this was just a couple of typos in this specific document.

Looks like Your virtual PP is in Japanese or other idiom not recognized by Your system.

Press SHIFT and after AREA and see if the comments appear again.

In the post referenced by hermann, there is a file called GSDML-V2.0-Siemens-CP16xx-20070524 .txt. These files are not newer. They are pretty old.

Change the extension from .txt to .xml

File version is V2.0, but there are 2.1 modules inside.

In theory, is possible to make this setup work just with TIA Portal.

In practice, I can't say so.

You will need two hardware configurations to make this work. One inside the PLC, another inside the CP1616 on robot controller.

You can use TIA to configure the PLC side of Your system but, again, my advice is use Step7 on robot side. In my personal experience, every time we tried make robot side with TIA, we went on trouble.

And, about the GSDML, I searched my stuff here, but didn't found this specific version.