Posts by Angelos Stathis

Quote from Angelos Stathis

Where can I find the router program?

Nevermind, I found some cmd commands to execute in the VM that do the work of the router program:

Create connection:

netsh interface portproxy add v4tov4 listenaddress=192.168.0.1 listenport=23 connectaddress=172.31.2.200 connectport=23

I configured the ports to be the same for simplicity once deployed to an actual controller (for KLI).

The listen IP/port are the ones defined in the .xml config file, while the contact is the external system (OL VM has an IP of 172.31.2.140)

Delete connection:

netsh interface portproxy delete v4tov4 listenaddress=192.168.0.1 listenport=23

I've made some .bat files for convenience (in my case I use 2 connections, one being Telnet)

Quote from SkyeFire

Should come with EKI. Look around inside D:\KUKA_OPT\EthernetKRLXML\

It doesn't seem to come with my version of EthernetKRL (v3.1.2). I have the server application, the config files and the test programs. And there is only this folder:

D:\KUKA_OPT\EthernetKRL\

and not D:\KUKA_OPT\EthernetKRLXML\

Does this work with EthernetKRL (v3.1.2) and TCP?

To install .NET Framework 3.5 on OL's VM you will need to do the following (worked for me):

You need to download the .iso file of the exactly same windows version, where inside you can find the folder /sources/sxs/

You will need to share this folder with the VM to copy it somewhere (or use a USB), I copied it on disk D.

Then you need to open cmd with administrator privileges and run the following command:

"dism /online /enable-feature /featurename:NetFX3 /all /Source:d:sources\sxs /LimitAccess"

where you can see, you source the folder mentioned.

I did this and afterwards the EthernetKRL_Server.exe started to work.

Hope this helps!

Quote from SkyeFire

KSS 8.x no longer needs KUKA Router -- that was strictly a KSS 5.x requirement.

Is there I way to connect OL(KSS 8.6.2) to an external system (to use Ethernet_KRL) without the router program? If not, where can I find it?

Where can I find the router program?

1. Thanks!

2. Yes, let me rephrase, I would like to create a function to return a char array (or even any array), something like that:

DEFFCT CHAR[] My_function()
   CHAR RESULT[]
   ; do something 
   RETURN RESULT
ENDFCT

3+4. The idea was to create a huge table of REAL and just copy paste it into the controller in a form of a matrix. In a form of a .dat or any other text file

5. Thanks! I've downloaded the appropriate version of the manual

Information: KRC4 Compact KSS 8.6.7 KR 6 R900

Additional Software: EthernetKRL 3.1.2 KUKA.PROFINET MS 5.0.3 DiagnosisSafety 3.1.5 KUKA.DeviceConnector 2.1.4

Greetings forum,

I have some questions about KRL:

1) Is there a BREAK command to exit loops?

2) Is it possible to create a function that returns a string?

3) Is it possible to initialize a matrix at once? Something like data[] = [1 3 5; 2 4 6; 7 8 10] (3x3)

4) Is there a max file size? I have only found about the 2000 lines limit

Turns out the cable inside the controller was faulty. I plugged the Ethernet cable directly to the KLI Ethernet port on the motherboard, bypassing the cable coming from the X66 port. Connection was instant and I was able to ping the IP address as expected.

Greetings Forum,

I'd like your help.

Information:

KRC4 Compact

KSS 8.6.7

KR 6 R900

Additional Software:

EthernetKRL 3.1.2

KUKA.PROFINET MS 5.0.3

DiagnosisSafety 3.1.5

KUKA.DeviceConnector 2.1.4

X11 not yet configured

I am trying to ping the robot controller from my desktop. Desktop & controller are both on a switch, along with a Cognex camera (that I'm going to establish communication with), which connects to a router for internet.

My Ethernet cable is connected to X66.

Inside the manuals I discovered that "PROFINET automatically occupies the virtual interface “virtual5”. This must be adapted to PROFINET"

So as instructed, I created virtual6, with the IP and Subnet mask I want for my LAN (checked as windows interface).

Please see .zip file for included photos.

My problem is that I cannot even ping the controller. Even the led light on the switch for link/act remains dark. Wire-shark doesn't detect any packages. I have 0 response.

I am also not using one of three reserved subnets.

Desktop

192.168.1.81

255.255.255.0

Virtual6

192.168.1.91

255.255.255.0

Virtual5

172.31.1.147

255.255.0.0

I understand that this is an easy task, what am I missing?

Hello, thank you all for your answers,

So SkyeFire, what you are saying is to use SPS as one thread, that does the communication and fills the ring buffer,
And on the other side, a program (level 1 as you say) that reads the buffer and moves the robot and acts as a second thread?

If so, using the $config.dat I can declare a global buffer and all the global variants (boolean) I need to control the data race between the 2 threads, right?

I have made a simple program using C_PTP commands that moves the robot by a step of 0.01 degrees, by altering the $APO_DIS_PTP[1..6] values and it works as expected.

Hello,
I have attached my very simple .rsi and .src programs that I use with RSI.
I have noticed that it takes about ~100ms to switch between axiscorr and poscorr. I make switches every 180 cycles.
I use sen_pint[1](named status) to switch between the modes.
As you can see in the log files, the robot reads the sen_pint value after a cycle or two, but it takes ~37 cycles to stop the execution and switch (see receive_log)
There are also some other irregularities I do not understand (cycle_log: cycles 0, 1, 2, 221)
Any ideas?
By the way I use T1 and I have disabled the error messages by setting RSIERRMSG=FALSE just to see how fast it goes

So I am using RSI 3.1 on a krc4 and I have successfully managed to move the robot everywhere I want (I have set the limitations way greater than 5mm or 5 degrees).
I am using T1 at 10% speed.
When I try to send a correction greater than 0.15 mm in a cycle (12ms) the robot breaks harshly, really bad for a movement or two until an exceeding speed error message pops up.
So I am asking, how does RSI plan its movements, are they similar to PTP motions where maximum speed and acceleration are defined?
Or something different?
I am planing to move the robot with rsi in the whole workspace and I want it to move as fast as possible in a controlled and mannered way.

Thanks for the advice! I found the problem! I wasn't using a destination port for my datagrams to the robot. Now it works as intended!

I have revised my code, it still works as fast, but it seems I keep sending a false datagram to the controller. Does anyone know what type of data the controller expects to receive?
I keep sending my char sendbuf[2048]; array, but I only send the useful data, without a null terminating character ( \0 ) or a newline character (\n). I have tried adding them to the end with no success.
my code:

//--Send data:
sprintf_s(sendbuf, "<Sen Type=\"ImFree\">\n<EStr>KRCnexxt - RSI Object ST_ETHERNET</EStr>\n<RKorr X=\"%.4f\" Y=\"%.4f\" Z=\"%.4f\" A=\"%.4f\" B=\"%.4f\" C=\"%.4f\" />\n<AKorr A1=\"%.4f\" A2=\"%.4f\" A3=\"%.4f\" A4=\"%.4f\" A5=\"%.4f\" A6=\"%.4f\" />\n<EKorr E1=\"%.4f\" E2=\"%.4f\" E3=\"%.4f\" E4=\"%.4f\" E5=\"%.4f\" E6=\"%.4f\" />\n<Tech T21=\"%.2f\" T22=\"%.2f\" T23=\"%.2f\" T24=\"%.2f\" T25=\"%.2f\" T26=\"%.2f\" T27=\"%.2f\" T28=\"%.2f\" T29=\"%.2f\" T210=\"%.2f\" />\n<DiO>%d</DiO>\n<IPOC>%s</IPOC>\n</Sen>",
X, Y, Z, A, B, C,
A1, A2, A3, A4, A5, A6,
E1, E2, E3, E4, E5, E6,
T21, T22, T23, T24, T25, T26, T27, T28, T29, T210,
dio,
ipoc);

iSendResult = sendto(Socket, sendbuf, strlen(sendbuf), 0, (SOCKADDR *)& client, sizeof(struct sockaddr_in));

So I have created a simple c++ server program that transmits to the robot controller (krc4) the data packet that is shown in the example server program.
I transmit back the same ipoc timestamp that the robot sends me each time, since I noticed its the only thing that changes.
According to my code, I transmit data every 0.5 ms, but the delay keeps going up, until it stops the robot.
Any ideas to what I'm missing?

I have reached 2.6 million successful transmissions with a maximum delay of 10000, in 130 seconds

Let me understand a moment.
If I have a great matrix of points, like 100 in size, then the following code would be sufficient for the robot to move continuously?

$ADVANCE = 5

CONTINUE
PTP P1 C_PTP
CONTINUE
PTP P2 C_PTP
CONTINUE
PTP P3 C_PTP
etc etc

So I use $ADVANCE = 5 for example and I send to the robot one or two or three points

how would the code be?

If I use PTP P1 C_PTP wouldn't it stop when reaching P1?
Even if i do:

PTP P1 C_PTP
PTP P2 C_PTP
PTP P3 C_PTP ?

I need to interrupt the movement command somehow (without the robot braking), don't I? And then use another movement command

Btw the points I want to move to are really close, like 1 degree away or 1 mm away

UPDATE: I managed to get everything working properly by following this thread:

https://www.robot-forum.com/ro…rum/rsi-ethernet-example/

My settings:

Controller (virtual5) checked as windows interface
IP: 172.31.1.100
Subnet Mask: 255.255.255.0
Gateway: 172.31.1.100

RSI (virtual6)
IP: 172.31.2.100
Subnet Mask: 255.255.255.0
Address Type: Mixed IP Address
Queue: Filter 6
Filter 6: Filter Type: IP Protocol
Filter 6: IP Addresss: 172.31.2.100
Filter 6: Subnet Mask: 255.255.255.0
Filter 6: Parameters: 17

Remote PC KLI
IP: 172.31.1.91
Subnet Mask: 255.255.255.0
Default Gateway: 172.31.1.100

Remote PC RSI
IP: 172.31.2.91
Subnet Mask: 255.255.255.0

Update, It wasn't a configuration problem, just some cables.