Posts by Alex2070

Hello again,

I post the solution here just in case anyone need it.
In the file

C:\KRC\Roboter\Config\User\Common\MotionDrivers\motiondrv.ini:

you should have :

[EMI_DRIVER]
RSI_MOVECORR,mdrStandStill.o

Why, RSI_MOVECORR, because of the data already present in C:\KRC\Roboter\Config\User\Common\MotionDrivers\mdrStandStill.ini:

which is

[RSI_MOVECORR]
MOTION_CLASS=CARTESIAN;
WAIT_STOP_ACK=FALSE
MON_RAMP_STOP=5000
MON_EM_STOP=1000

The reason might be the version of FTC and/or RSI used.
Changing RSI_MOVECORR by STANDSTILL_RSI does not work, the value might be used elsewhere.

KSS version is 8.3 and RSI is 8.3 too. (not 100% sure).

Thanks for your help.

Regards,
Alex

Thank you panic mode.

If I summaries,

a) duplicate or incorrect BrkeTestDrv.o
1.Check driver calls in motiondrv.ini, path C:\KRC\Roboter\init, in the section [OTHER_DRIVER] BRKTST, BrakeTestDrv.o.
2.Delete entries in the [TOOL_DRIVER] section.

=> I do not have the folder C:\KRC\Roboter\init on the KR 300 KSS 8.3 robot, expert mode is on.

b) Brake test is deactivated
Log in as Expert, make sure no program is selected then activate brake test
1.Open the file motiondrv.ini in C:\KRC\ROBOTER\Config\User\Common\MotionDrivers.
2.Check whether the driver BRAKE_TEST,mdrBrakeTest.o is deactivated (remove semicolon).
;BRAKE_TEST,mdrBrakeTest.o
3.Perform cold start

We tried activating the brake test, the brake test is OK, we just had an issue with our E1 external axis, a rail.
So, we deactivated brake test for external axis, then brake test is OK.

With this robot, we always work with break test deactivated. Does it have to be activated for FTC to work ?

c) Missing entries in the RSI configuration

The following entries must be present in the file C:\KRC\Roboter\Config\User\Common\MotionDrivers\motiondrv.ini:

[EMI_DRIVER]STANDSTILL_RSI,mdrStandStill.oThe following entries must be present in the file C:\KRC\Roboter\Config\User\Common\MotionDrivers\mdrStandStill.ini:

[STANDSTILL_RSI]MOTION_CLASS=CARTESIAN;WAIT_STOP_ACK=FALSEMON_RAMP_STOP=5000MON_EM_STOP=1000

We added the missing configuration lines,
[STANDSTILL_RSI]MOTION_CLASS=CARTESIAN;WAIT_STOP_ACK=FALSEMON_RAMP_STOP=5000MON_EM_STOP=1000
the previous line was present however with a different section name (I do not remember it, I will see this on monday).
We tried to change the section name, add a new section with this name, have both in the same file, all three cases failed.

d) defective driver - exchange missing or incorrect file

=> How to detect a driver is faulty ? and exchange files ? We should reload a new robot version from workvisual ?

e) driver for brake test commented out:
edit ini file and perform cold start with "reload files"
C:\KRC\ROBOTER\Config\User\Common\MotionDrivers\motiondrv.ini

At each step, we did a cold start with "reload files".

We joined Kuka-support for support, what they proposed to us is similar to what we tried following your advices.

Still the same error. I will get back to it on Monday. I'll keep you updated.
Thanks again for the step by step, it saved us some time to try it before contacting Kuka.

Best Regards,
Alex

Dear Skyfire,

I did not know if diging out this topic was the best way to do.
However, I have exactly the same issue with KSS 02848.

My robot is a KR 300 KSS 8.3

The error seems related to the RSI block RSIMovecorr(). MDR - Device Name Unknown RSI_Movecorr()

Did you find a solution ?

I tried everything proposed by panic mode with several combination however it did not change anything to the result.

Thank you for your help.

Regards,
Alexandre

Hello,

What you are trying to do is hard work.
We are working on it in my lab. You can search in science-direct.com for example at articles.

This is an active research field.

Regards,
Alex

Quote from signum

Camrob is a postprocessor software from Kuka to translate CAM output files in robot KRL meaning src files.
I already have src files and need to load in controller and run, the problem if I have bigger memory from 300 MB up. I have to divide job in half or more and to load shared files.

Hello,

On my company we have used CAMROB as said above to stream points. It splits the big programs in several small and then stream them to the robot so the robot can execute them one at a time continuously.
I think, according to what you describe, that it is what you need. It can do more than just postprocessing CAM to KRL.
We used it for milling applications like yours.

Regards,
Alex

Indeed you are right. The data cable between the controller and the robot was not correctly plugged in.

I have only few errors remaining.

I think it will be ok, thanks again.
Regards,
Alex

The robot was working, it just got delivered from its previous place. I just plugged it in and tried to launch it.

I have this error for KSD 1 to 7.
I will try your suggestion. Thanks,

Alex

Hi all, sorry for the up but I have the same issue.

I just turned on a KRC2 KSS 5.5 KR500 2-MT-F and these messages appears.

Does anyone had solved this issue ?

Thanks for your help.

Regards,
Alex

Yes I only use XYZ position in the Cartesian world.

In fact, I first have 3 points (X,Y,Z,A,B,C). I only keep the X,Y and Z coordinates. I then determine two vectors based on the three points. And then, I apply a cross product between the two vectors to have the normal vector.

I did it with quite a lot of bloc in the RSI. It works. However it is very hard to read with other functions around.
I believe it's not possible to create our own bloc otherwise someone would have said it. Maybe on a new version of RSI.

Maybe i'm wrong, but for me, the generic transform object only allow a vector to be changed according to fixed parameters ?

My idea is to have 2 vectors (X1,Y1,Z1) and (X2,Y2,Z2) and do the cross product to have X3 = Y1 * Z2 - Z1 * Y2, Y3 = Z1 * X2 - X1 * Z2, Z3 = X1*Y2 - Y1*X2.
That way, I have the normal vector for a three points surface.

My first idea is to create a bloc with 6 IN, 3 OUT, that would do this. However I do not know if we can define our own bloc.

Hello all,

Does anyone know what the blocs are for ?
KRC4 KSS8.3 RSI 3.2

I am looking for a way to create specific bloc. I would like to create a cross product function that I could re-use without dragging all the bloc several times.

Thanks for your help.
Alex

Hello all,

I am working with a Kuka KR 90 on KRC4 KSS8.3 and RSI 3.X.
I had successfully established connection between my PC and the robot using the EthernetXML bloc embedded in RSI visual. This has been done using UDP protocol.
I currently have a new sensor that I would like to set in RSI (receive position data from it and send back some parameters for the next cycle). This sensor can communicate over Ethernet TCP/IP protocol and not UDP.
I can have an option for Ethernet XML on this sensor. So I was wondering, is it possible to use TCP/IP protocol with RSI Ethernet communication ?
I looked for some options but did not find anything so far.

Thanks for your help,
Regards,
Alex

I looked at my program, when I did this it works because I was moving axis 6 only. So I increased the $VEL.CP value for this point only to reach the max value of axis 6.
Obviously you already have reached axis 6 max value, so this would not work.
Increase the value in the machine.dat file might be bad for the motor so I think it is better to not change it.

Have you read the other post about the gluing application ?
If you use KRC4 with KSS 8.2 there are SPLINE movement with constant speed that could solve your problem.

Regards,
Alex

Hi,

Your problem comes from the fact that axis 6 has a lower speed than other axis.
Because of that, the whole movement is slow down when axis 6 is moving.

If you lower your overall speed below axis 6 max speed it should be ok.

What your are trying to do might work, I already did something similar. I changed the $VEL.CP before each move where axis 6 was involved and and the movement was faster.
However it was not easy to find the right parameters to have a constant speed for the whole movement.

Alex

Hi,
An idea I have when reading this, if you set a lower speed, you would be able to move at constant speed with reorientation. In order to keep the same amount of glue, you would need to reduce the flow.
However, this would increase the cycle time.
Or maybe, by increasing the number of points and anticipating the orientation of the tool as much as possible you would be able to keep a high speed.

Regards,
Alex

Quote from diglo

i'm using a plain remote desktop connection,
just locate the KLIconfig.xml file and edit the line relative to the port 3389 from this:

Code

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

to this

Code

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

username: kukauser
password: 68kuka1secpw59

it works on KRC4 for me

diglo

Display More

Hello diglo,

This is very interesting. I currently use VNC, but I would like to try this.
On your PC, you use the remote desktop connection provided by Windows ?
About the password/user, are they some you define on the KRC4 windows part ?

Thanks,
Regards,
Alex

Hi,

I do not have the documentation with me but I remember there are conditions for the movement to be smooth. (like tangent between two move).
Especially if you use SLIN with SPL ou SCIRC.
You should look in the manual on the SPLINE section.

I will have access to it tomorrow in cas you did not find.

Hi,

Last time I talked about this with Kuka, they explained that the RSI and Kuka.CNC are using the same "slot" of real time environment.
So according to them, it should not be possible to have the two packages working simultaneously.

However, they had no proof that it will not work.
So, maybe it would, maybe it would not.
If you have the chance to try, let us know.

Alex

Hello,

If your aim is to move at constant speed and you do not have any constraint on the min speed for your application, you should try lower your $vel.CP value.
If you use $VEL.CP = 0.2, your movement might be at constant speed as it might be below the limit of axis 6.
I am not very familiar with KRC2 but you could try the SPLINE option I believe.

The SPLINE block does not mean your movement will be a SPLINE (mathematically speaking), it is more like another way of having a smoother motion like the C_VEL.
The syntax is quite simple, you create a block
SPLINE
SLIN POSITION[1]
SLIN POSITION[2]
...
ENDSPLINE

I hope this help.

Regards,
Alex

Quote from bad_boy

Hi Alex2070,

Thank you for your code.

I need some more information, I am a newbie and don't have too much experience on kuka and c#. I already checked it but it did not work. I think you already know about my project from this conversation. If you are working on similar robot controller and want to share some more information then it will be helpful for me. I don't have too much time to finish it. It would be helpful if you could reply early. I have no problem to share my work with you, if it can help you on your learning process. I appreciate you for the time you gave to help me from your busy schedule.

This program is working for RSI Ethernet configuration. As you do not use RSI, it is mostly a guide on how to build your own solution.
The first step as said above by zeev is to make sure you have the communication open between the robot and the computer.
Then you can use some sniffer on your computer to check that the robot try to connect to your PC and see if your server answer it.