Posts by panic mode

    IR-ETN is not a PLC, it is a bus coupler (part of an I/O system) that allows connecting I/Os to some fieldbus.

    fieldbus nodes have specific role - master or slave.

    in your case KRC is EthernetIP master and this device is EthernetIP slave.

    each slave must have some sort of device description file. this file is fieldbus specific.

    it need to be added into configuration of master so that master is aware of slave function, capabilities etc...

    in this case you would import this file into WorkVisual.

    if you have a PLC configured with Codesys, then this PLC would be master and you would have to import the file into Codesys to parametrize PLC. This could be Modbus.

    but if robot still needs access to these I/Os, you would need to create another network between KRC and the PLC. This could be EthernetIP.

    do you mind answering the other question? has the power been wired?

    also does the configured topology match the wiring?

    your screenshot shows that there are other messages too. what are they?

    KSS or Kuka System Software is the core software used to run robot. It includes standard functionality.

    But there are also numerous add-on options which can be added to enhance or expand the standard functionality. Most of the options are not free, you need to buy them. Ethernet IP is one of them.

    as described...

    how to do use conversion utility so that there is a clear result if operation was successful or not for a specific CONFIG file, without relying on automatic search through registered paths etc?

    i definitely do not want the user to look through registry (which is a suggestion in manual) to identify paths that conversion utility can use... it is bad enough that program name is frigging mile long.... it took forever to just change keyboard language and test --help and -h options - only to be colossally disappointed with result. <X

    so i would expect option to do something like:

    KukaRoboter.UserTech.KfdConverter.exe "C:\path1\SmartHMI.exe.OLD.config" "C:\path2\SmartHMI.exe.NEW.config"

    and also something like this

    KukaRoboter.UserTech.KfdConverter.exe -list_paths

    or rather name such as KFD2KFDX.EXE instead of the current one.

    also there is apparently no "reinitialize UserTech" option any more. what has replaced it? don't want to reboot after every change so - how to test changes right away?

    and there is also no mention of troubleshooting or messages. right now i split my old config into two files to match UserTech V4.x examples. then i did conversion manually.

    and so far first one (Main HMI menu) seem to be ok - we got the keybar loaded, keys seem to work.

    the second part (the ILF menu) also loads but no inline form can be inserted into program.

    in the past i would simply trace this by adding semicolon into KDF inline form so at least command could still be inserted (but of course commented out). not sure how to that in this version...

    apparently simply inserting semicolon into KFDX does not work. i am told that any attempt to insert our ILF results in the same message: TH 3 - Invalid module. (the other message shown in screenshot is not related). It is even unclear which module is invalid. There are no compilation errors anywhere. old KFD worked fine on bunch of installations.

    in the dummy module named test1 standard ILFs work (Motion, WAIT etc.).

    also the module with all subs that my ILFs reference is ok. i can call them from other programs if instruction is typed in manually. but editor fails to insert them, with not much to go on. so presently i am now reading UserTech4.x manual and trying to figure out what else to try....

    hello everyone,

    don't have access to KSS8.6 and my OL is only 8.5 so cannot do tests myself. but i am trying to assist someone who is far away and not used to dealing with this kind of things.

    we have used for years sets of files on KSS8.2 and 8.3 but with KUKA moving to Win10 file format changed. Newer UserTech now uses XML version of configuration files... (we have 4.0.15)


    1. Are there any other options (command line switches) for conversion utility "KukaRoboter.UserTech.KfdConverter.exe"? running with -h or --help shows not much.

    2. KFD is apparently converted, with some exceptions (PROSTATEO is now PROSTATE0) which should not be a show stopper. but trying to convert CONFIG file is not going well. according to manual this conversion is supposed to be manual, place file in C:\KRC\USER and then run conversion utility but - nothing happens... and log also shows nothing:


    Start converting menu entries ...

    Finished converting old menu entries with 0 error(s).

    for which menu entries, if any, conversion was attempted? if there are no errors, does it mean it was successful? where are the output files? if no menus that need conversions are found, why it does not tell that explicitly?

    not sure what your preference and experience levels are.

    there are several options, limited only by your imagination.

    one option is to use Y200 interface which should be inside OL (but not installed).

    the advantage of using Y200 is that it can control inputs too.

    the main disadvantage is that it cannot load custom I/O names...

    another option is to remap I/O signals to own boolean variables.

    this is where good practice anyway and an example when it really pays off.

    simply do NOT use physical I/O in your programs - use SIGNALS.

    then the simplest thing is to (for simulation sake) map all signals to outputs.

    yes, even "input" signals are mapped to outputs....

    literally instead of

    SIGNAL whateverA $IN[27]

    SIGNAL whateverB $IN[28]

    SIGNAL whateverC $IN[29]

    something like

    SIGNAL whateverA $OUT[1027]

    SIGNAL whateverB $OUT[1028]

    SIGNAL whateverC $OUT[1029]

    the outputs can stay as they are.

    this option gives you full control of all I/O since outputs offer read and write access.

    then you can use whatever you like to control them.

    but if simulation is to use AUT or EXT mode, SIGNALs need to be replaced by boolean variables.

    i tend to keep all global variables in one file so it is easy to just replace one file and everything else stays exactly the same as on real KRC.

    one option is to simply crate another KRL program. another way is to use some sort of communication channel (EKI, VarProxy, C3 etc.)

    here is one of the hacks i did when experimenting with VarProxy client. btw client did not work for me until i made some adaptations, but it is usually better to start with something that (alsmost) works before creating own app.

    when C3Bridge was released i decided to use it as it offers more options.

    using any kind of program to automatically update or control at least some of I/Os can dramatically speed up testing when there is a lot of handshake signals.

    depending on approach this could be quite involved so one need to balance effort and gains.

    one easy (quick to create) but rather flexible and powerful option is the good old drum sequencer. just create an array of integers (or parallel arrays if many bits are needed), populate them any way you like and have SPS copy selected element to I/Os. this can be literally setup in an hour including populating array(s). then one can simply set index and whole bunch of I/Os would get updated according to presets.


    Can I connect the X66 port to an ethernet switch

    yes, in fact that is the only way to get multiple devices connected to KLI.


    without causing any delay in data exchange?

    no... adding switch always adds latency. the question is if that delay is significant or not for particular use. this is why there are many types of switches out there. some are simply better than others which is also indicated in huge price differences.


    I was considering using the beckhoffs EL6601 or EL6614 ethernet modules

    aren't those meant for EtherCat? Most ports use EtherCat but KLI is not one of them. Same goes for RSI.

    You can buy any ram and try installing it. But chances are it will not work. I have somewhere screenshot of HMI message stating that KSS refussd to run because non-KUKA ram was detected. Btw, each KRC4 should already have 2Gb...

    next to smartPad start key is a WorkVisual icon (blue gear).

    click on it, then click on Advanced...

    top portion of that screen will show Initial, Base and Active project.

    bottom half shows list of other projects. those are the ones you are interested in....

    click on one and activate it....

    may also need to activate safety configuration if it differs from current one.

    you can still use EthernetIP but make sure CIP safety is not active.

    remove X311 jumper and connect X311 connector that comes from X11.

    connect SION-SIB boards to CCU as per original schematics.

    deploy and activate project that contains SION-SIB boards and activate new safety configuration.

    that is also an option. it requires KUKA Encrypt package which is a paid option.

    also this only prevents modification of the programs but users may still delete them.

    usually people want to prevent any change (editing, touchup, renaming, moving...)