I use KUKAVARPROXY to communicate with KUKA robot with KRC4 controller. I used to change the ip address of the PC so that it is in the same subnet as the robot. DHCP has been enabled at my office. Now, I want to simultaneously access a software license server and connect to the robot at the same time. I tried changing the robot to Dynamic IP address. But now I want to know what ip address has been assigned to the robot to continue using KUKAVARPROXY. How can get this?
Posts by madhurayavarapu
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I have developed an automated 3D scanning system where a custom developed scanner is mounted on the robot(KUKA KR5, KRC4 controller). Robot co-ordinates are used for registration. Now the problem is that the registration accuracy is not satisfactory, literature survey showed that accuracy depends on the absolute positioning accuracy of the robot.
There are few calibration procedures using laser trackers or portable CMMs and some make use of cameras to calibrate the robot. The last option is the only feasible one for me.So my question is does anyone have experience of calibrating the robot using vision?
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Has any used ROS with KUKA Robot with KRC4 controller? Or does any one have any idea about configuration?
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Hi SkyeFire, Thanks for the reply.
I do not program anything, I just read the actual position of the TCP from teach pendent or programmatically using JOpenShowVar. Yes, in the pendent I set the current base and tool to T2. Is that it? . Are the steps mentioned below correct way of setting default TCP and Base co-ord system?
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Step 1: I have defined a new tool(T2) and base(B2) and their values were set to (0,0,0,0,0,0).
Step 2: In the CONFIG.DAT file, I have changed the default tool and base to T2 and B2 respectively.
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KRC4 Controller, KUKA 5 ARC, 6 kg payload robot
Question is regarding correct usage of default base and tool calibration. Documentation mentions that by default base and tool center points are located at WORLD and Flange center point respectively. This is what I want for my vision application(HandEye calibration). For some other application, tool and base calibration were done for the robot and stored in the controller. To revert back to the DEFAULT config, I have performed following steps.
Step 1: I have defined a new tool(T2) and base(B2) and their values were set to (0,0,0,0,0,0).
Step 2: In the CONFIG.DAT file, I have changed the default tool and base to T2 and B2 respectively.I move the robot and record the TCP position. This information is used for HandEye calibration.
Calibration results are way off and the problem seems to be with the robot positional data. Now I have following questions.Is Step 1 the right way to locate TCP and base at their default positions, If yes then how can I verify. If no, could anyone please tell me what is the correct procedure. Please let me know if additional details are required.
Thanks,
Madhu -
Hi,
I have an image processing application which will convert camera co-ords to Robot co-ordinates, a middleware will send these co-ordinates to the Robot controller. The robot has to go to the specified position. Image processing application will send only X,Y,Z,A,B,C values of a EPOS6 variable. I tried appending some arbitrary values for S & T but this approach fails very often( Error messages are like: 1) Software limit switch reached, 2) Maximum axis specific velocity reached etc).
So my question is :
How to calculate S & T values for given X,Y,Z,A,B,C values? (Unfortunately the documentation has not been of much help)Basically I'm a Computer Science Graduate so please explain in detail.
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Zeev,
This is related to https://www.robot-forum.com/robotforum/kuk…uka-robot-krc4/
I want to transfer coordinates from external-PC to KUKA controller. I'm aware that KUKA-XML-Ethernet can be used transfer the coordinates. However, its too costly for us and I want to know if there is some other way to achieve the same.
Basically we are implementing a Vision-Based inspection solution and the sequence of steps we plan to follow are
1) Read coordinates using a camera.
2) Convert them into world coordinates.
3) Write these coordinates to the .dat file.
4) Run the program using the updated coordinates.I observed that the robot program doesn't read the new coordinates. We were asked to restart the Submit-interpreter for the robot to read the new co-ordinates. And this worked. But I want to know if this can be done without restarting the submit interpreter?
What are the possible ways to solve the above problem?
I'm currently trying to use JOpenShowVar for the above application.
In the post listed above other members have suggested using CREAD/CWRITE to do the same but it seems like a external module needs to be developed. I have no prior experience in developing such module but will attempt if i can get more details on the same.Thanks,
Madhu -
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I'm trying to create global variables. Documentation says that we have to declare them in $config.dat file.
I followed following steps to create global variables but still the changes vanish when I start the submit interpreter.1) Cancelled submit interpreter.
2) Opened $config.dat file using an editor and declared new variables. Then saved the file.
3) I can see the new variables from the HMI.
4) The I start submit interpreter and open the file in HMI.The variables created no longer appear in the file. From the older posts I understand that submit interpreter needs to be cancelled but I did the same yet the variables were not saved.
Madhu
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Hi,
CREAD/CWRITE documentation says that we can develop external modules and use them for reading/writing.
Can you please tell me how can we develop external modules for KUKA controller?
Any examples?
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Given the above requirement, Can we use KUKA ethernet XML?
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Hi,
I want to transfer coordinates from external-PC to KUKA controller. I'm aware that KUKA-XML-Ethernet can be used transfer the coordinates. However, its too costly for us and I want to know if there is some other way to achieve the same.
Basically we are implementing a Vision-Based inspection solution and the sequence of steps we plan to follow are
1) Read coordinates using a camera.
2) Convert them into world coordinates.
3) Write these coordinates to the .dat file.
4) Run the program using the updated coordinates.I observed that the robot program doesn't read the new coordinates. We were asked to restart the Submit-interpreter for the robot to read the new co-ordinates. And this worked. But I want to know if this can be done without restarting the submit interpreter?
What are the possible ways to solve the above problem?
I'm absolutely a newbie to KUKA robot(first day with the robot) and to the world of robotics. So please excuse me if i'm being naive.