Posts by s2007.ravi

  • KUKA EthernetKRL and OfficeLite Communication issue with External App

    Hi All


    I finally made it working for me. I changed the configuration in the KUKA Router as shown in the picture.



    The EthernetKRL configs are as follows.


    KUKA as Client:

    KUKA as Server:

    If someone does not have KUKA Router software available then he/she can use the attached zip containing bat files to achieve the similar functionality.


    Regards

  • KUKA EthernetKRL and OfficeLite Communication issue with External App

    Hi All


    I'm trying to establish the connection between Ethernet KRL v3.1.3 inside KUKA OL with KSS 8.6.2 and a C# Application (written by me) but not being successful.


    vxWork IP: 192.168.0.1/255.255.255.0

    KUKA OL IP: 172.31.1.147/255.255.0.0

    Host PC IP: 172.31.1.100/255.255.0.0


    The EthernetKRL is configured as a server and the external C# App is a client. I went through almost all the posts on the forum describing the functionality of EthernetKRL with KUKA OL. Almost all the topics talk about getting successful with KUKA being Client and external App being Server but none talk about other way around.


    I configured KUKA Router and got the success in using the Server Application supplied with the EthernetKRL package. I tried example codes on the robot such as BinaryFixed.src, BinaryStream.src, XmlCallback.src and XmlTransmit and got the successful data transmission with the example server application. However, I have not got any success with XmlServer.src program with my C# App (cannot use Server Example App because it won't work). I tried various configurations in KUKARouter but could not make it work.


    Can someone guide me how can I configure KUKA Router so that the communication between the robot (EthernetKRL Server) and the C# App (Client) can be established.


    Here is the configuration (xml), I'm using on the robot.

    Please also find attached the screenshot showing the KUKA Router configuration.

    Regards

  • Remote Desktop on KSS 8.6

    Finally, got the success in making RDP work on KSS8.6.9. You have to modify 2 files on the robot controller:


    KLIConfig.xml at KRC/Roboter/config/user/common

    KagaConfig.xml at KRC/Roboter/Config/System/Cabinet/


    Find the lines with the entry:

    Code
    <NATRule>rdr [GlobalNatInterface] [addr] port 3389 -&gt; [host:WINDOWS] port 3389 tcp proxy RemoteIP</NATRule>

    and replace it with:

    Code
    <NATRule>rdr [GlobalNatInterface] [addr] port 3389 -&gt; [host:WINDOWS] port 3389 tcp</NATRule>

    Please note that there are two entries in the file KagaConfig.xml.


    Regards

  • KRC4 ProfiNet & EthernetKRL setup

    Hi All


    I have an application where I would like to set up the ProfiNet (to talk to a Siemens Controller) and EthernetKRL (to talk to an external PC/Server). My question is: can they both co-exist on the same KLI port, of course with two different network interfaces? If not, will I have to use the KONI port with KUKA.OptionalNetworkInterface package?


    KSS Version: 8.6.3

    EthernetKRL: yet to arrive

    Profinet: yet to arrive


    Regards

  • KUKA RSI: Get $TOOL & $BASE

    Sorry for the late reply.


    Thank you SkyeFire for the heads up. For now, I put protection in the code using VARSTATE.

    Code
    IF VARSTATE("$BASE") == #INITIALIZED THEN
  $SEN_PREA[1] = $BASE.X
  $SEN_PREA[2] = $BASE.Y
  $SEN_PREA[3] = $BASE.Z
  $SEN_PREA[4] = $BASE.A
  $SEN_PREA[5] = $BASE.B
  $SEN_PREA[6] = $BASE.C
ENDIF

    I tested the code and it works fine.

  • KUKA RSI: Get $TOOL & $BASE

    Quote from SkyeFire

    IIRC, there are RSI objects that can access the $SEN_PREA system variables. You might be able to have the SPS assign $TOOL and $BASE values to those variables.

    Thanks for the suggestion. I did exactly the same. However, when the submit gets launched or a new value to the current TOOL or BASE gets assigned, it throws an error saying invalid X value or invalid Y value, These errors are random.


    With KRC4, I observed that it throws the above-mentioned errors when the TOOL and BASE are assigned to unknown. Once a valid value is assigned, it works fine. However, when I run the program and current TOOL and BASE get reassigned, the error comes back randomly. I will have to dig into it and find a workaround.

  • KUKA RSI: Get $TOOL & $BASE

    Hi All,


    RSI: 3.3.3.267

    KSS: V8.3.320/KUKA8.3


    I have been developing an application to communicate with a KRC4 controller over RSI. I have developed an external UDP Server application (running on my computer) that talks to the robot and fetches some data such as cartesian and axes positions, etc. I have gone through the manuals and tried to find a way to send the real-time values of actual TOOL and BASE to the external application from the robot. However, in the manual and the examples, I could not find any RSI block that I can use in RSI Visual to get these system variables and send over the bus.


    If anyone has achieved this, then please help me with the idea of programming it.


    Thanks

  • RSI Ethernet Example

    Finally I managed to fix the issue with the RSI. Thank to MOM for giving me some valuable ideas. I believe the issue was with the subnet mask. As MOM suggested, I configured following settings (KSS version 8.5.8 & RSI version 4.0.9):


    1. KLI Windows Interface (virtual 5):

    Interface designation: KLI

    Address Type: Fixed IP Address

    IP Address: 172.31.1.147

    Subnet mask: 255.255.0.0

    Standard Gateway: 172.31.1.147

    Windows Interface can be selected


    2. vistual6 (RSI)

    Interface designation: RSI

    Address Type: Mixed IP Address

    IP Address: 192.168.1.147

    Subnet Mask: 255.255.255.0

    Receiving Task: Reception filter=Target subnet

    Real-time receiving Task: Reception filter=UDP


    3. Windows 10 Remote PC (KLI):

    IP Address: 172.31.1.150

    Subnet Mask: 255.255.0.0


    4: Windows 10 Remote PC (RSI):

    IP Address: 192.168.1.150

    Subnet Mask: 255.255.255.0


    Next I defined Remote PC RSI IP address (192.168.1.150) in `RSI_EthernetConfig.xml` in the robot. It worked for me and I was able to move the robot using the server application.


    Thanks again guys for helpng me out and solve this issue.

  • RSI Ethernet Example

    The complete network is explained in the earlier post. I'm sure no other computer has the IP 172.31.1.147 and 172.31.2.147 because these IP definition gives no error on subnet 255.255.255.0. Only when I change it to 255.255.0.0, the controller shows IP conflict.

  • RSI Ethernet Example

    I tried what you suggested but it did not work.


    I defined the suggested IP addresses but it did not have any affect.


    On 255.255.0.0, the KUKA Interface does not allow to define 172.31.1.x and 172.31.2.x. It throws an error saying IP conflict. Ideally, it should not say so because both the IPs defined are on different subnets.

  • RSI Ethernet Example

    Yes, correct. My problem is that I would like to keep virtual5 as Windows Interface so that VNC and file transfer works. And for RSI, I defined virtual6 as explained in the manual. But, both of these interfaces cannot have the IP address in the same subnet (it is not allowed). Therefore, I tried to blend the explanation in the manual and what experienced guys have mentioned herebut that is not working for me.

  • RSI Ethernet Example

    KR16R2010_2 C4

    KSS Version: KSS 8.5.8

    RSI version: 4.0.9


    Sorry Folks,


    I am bringing up an old topic. I'm facing exactly the same issue as explained by OP. My current settings are as follows:

    1. KLI Windows Interface (virtual 5):
    IP Address: 172.31.1.147

    Subnet mask: 255.255.255.0

    Standard Gateway: 172.31.1.147


    2. vistual6 (RSI)

    IP Address: 172.31.2.147
    Subnet Mask: 255.255.255.0
    Address Type: Real-time IP Address (I also tried with mixed IP)
    Filter 6: Filter Type: IP Protocol
    Filter 6: IP Addresss: 172.31.2.147
    Filter 6: Subnet Mask: 255.255.255.0
    Filter 6: Parameters: 17


    3. Windows 10 Remote PC (KLI):

    IP Address: 172.31.1.150
    Subnet Mask: 255.255.255.0
    Default Gateway: 172.31.1.147


    4: Windows 10 Remote PC (RSI):

    IP Address: 172.31.2.150
    Subnet Mask: 255.255.255.0


    First, I configured the network as explained in the manual but it did not work and then I followed the steps explained in the forum but the results were not positive.


    I copied all the necessary files into the respective directories as explained in the manual. I entered the IP address 172.31.2.150 and port 49152 in `RSI_EthernetConfig.xml` as shown below:


    <CONFIG>

    <IP_NUMBER>172.31.2.150</IP_NUMBER> <!-- IP-number of the external socket -->

    <PORT>49152</PORT> <!-- Port-number of the external socket -->

    <SENTYPE>ImFree</SENTYPE> <!-- The name of your system send in <Sen Type="" > -->

    <ONLYSEND>FALSE</ONLYSEND> <!-- TRUE means the client don't expect answers. Do not send anything to robot -->

    </CONFIG>


    When I run the robot in T1 or AUT mode after selecting the program RSI_Ethernet.src, I get error saying KSS29002: Signal Flow (running): Object ETHERNET1 returns error RSITimeout. I tried both receive data only and send and recieve data and both modes do not work.


    I got the wireshark running and got to know that the Robot and Remote PC are only communicating over KLI interface (172.31.1.XXX subnet) and do not see any communication over RSI interface (172.31.2.XXX subnet). I can ping both the subnets (172.31.1.147 & 172.31.2.147) of the Robot from Remote PC and of the Remote PC (172.31.1.150 & 172.31.2.150) from the robot.


    Please help me figure out as to what might be the issue here.


    Thanks