Posts by zicki_88

  • How to continue the program if searchL fails


    Well you could use an trap program that triggers on your signal high edge.


    Way not just add 'SkipError' in error handler and 'TryNext'? Program will continue on the next line after SearchL like there have never occurd any errors.

  • network topology

    Hi


    Question regarding network topology in an cell with several IV cameras and robots.
    Normally we connect every unit to the same switch to be Abel to connect to them all from one port.


    As I know IV cameras does only work throw service port/LAN2 on the controller. So connecting everythink to same switch will overlap the ip addresses because LAN2 has an static ip address that can't be change.


    An other option is to connect IV camera directly to the LAN2 port on the controller and controller wan port to the cell switch. Limitation for this alternative is that we can't access the cameras throw wan port for debugging.


    So is there any convenient way to set up the topology for this kind of cell?


    Br:zicki

  • VisionTech / Attribute Assembler

    Hi


    I'm trying to set up an data matrix reading software using an MXG20 camera and VisionTech v3.1.3.
    Robot is KR 8 R1420 arc HW KRC v8.3.37


    As help i have 07_CodeReading.pdf documentation from the VisionTech Samples folder.


    Problem I have is I can't get the AttributeAssembler to work. It is giving me an error that the input terminal "Result" is not set or does not contain a valid value. See attached Pic1.


    Inside the assembler tool I have only made an link from Result (IN) to Result (OUT). Should I do any more linking here? (Pic2)


    In the Image input field I added an Result terminal (VisionTechResult2D) and linked it to the attribute assembler Result terminal. (Pic3) Is this done correct?



    I have read the VisionTech documentation but can't find what I'm doing wrong so please help me.
    Information I need for the robot is
    Result found (bool)
    Result Decoded (bool)
    Result Decoded (string)
    Result X pos (double)
    Result Y pos (double)


    Also please let me know if I have to use som sort of C coding to get this done.


    -zicki

  • VisionTech live image

    Thanks SkyeFire for your answer.


    What about the camera tools? I connected external monitor screen/mouse and keyboard to KRC4 and started up VisionPro on the robot controller. Noticed that there isn't any "kuka tools" available on that version?!?! VisionPro on my work computer on other hand had the "Kuka tools". So I guess that they are installed during visionTech or workvisual installation??


    So my question is, can I make the application on VisionPro using tools supplied from cognex instead of the "Kuka tools"? If yes, I could make, test and save the tool blocks directly on robot controller. And then just reload them to the right camera task.


    zicki

  • VisionTech live image

    Hi


    KR 90 R2700 pro
    KRC4 - 8.3.37
    VisionTech 3.1.3


    Working on my first VisonTech project that includes locating part whit Kukas MXG20 camera.


    Is it possibly to get an live image from the camera to workvisual toolblock editor on my laptop?
    Normally when working and debugging with Cognex In-sight and Omron cameras I use live image feed to my computer so I can easily change camera tool parameters.


    Next question is about the Kuka camera tools that comes with VisonTech package. What different make it if I use kukas patmax tool (PmAlign) or the regular patmaxtool (CogPMAlignTool)?


    I haven't yet started VisonPro on robot controller but I'm planning to make the toolblocks for my application on it, if I can't get an live image feed to my work laptop.


    -zicki

  • Approximate help needed

    KSS Version is KRC4 V8.3.37.
    Robot type KR90 R2700 Pro


    I'm getting an error message saying approximation not possible. No detailed reason why its not working is told in the error message.


    Basically I just want the robot velocity to stay >0 when approaching/departing pick/place positions.


    On other robot brands (Fanuc/Abb) I'm used to use approximation values from 200-0mm and FINE when I want to stop at that end point
    I also used $APO.CDIS=10 C_DIS but it had no effect and robot velocity dropped to 0 when it reaches destination.



    zicki

  • Approximate help needed

    Hi


    I haven't quiet yet understand or figured out how the approximation work on kuka.
    On some movements it works and on other it dos not. What am I doing wrong?


    Code:
    SLIN {X 0,Y 0,Z 100,A 0,B 0,C 0} :pPickDamper WITH $VEL.CP=1,$APO.CDIS=1 C_DIS
    SLIN {X 0,Y 0,Z 30,A 0,B 0,C 0} :pPickDamper WITH $VEL.CP=0.5,$APO.CDIS=1 C_DIS
    SLIN pPickDamper WITH $VEL.CP=0.2


    In this example approximation does not work? Tell me why not


    zicki

  • How to make src moduli noview or nostepin

    Hi


    I have created a couple of krl programs that I what to work in same way the bas command work during "Single Step" mode.


    To clarify what I mean is that when I'm using Single step mode, I always has to step troy every line in my subprogram. And when I reach BAS command, it reads it whit one single step.


    On ABB robots this is know as NOSTEPIN.


    Thanks.

  • SWITCH statment with CHAR array

    Hi


    This one might be easy for some of you but not for me. And that's the reason I'm asking it here.


    KRC4 V8.3


    I want to use and CHAR array in an SWITCH statement. And I read the manual and it should be possible to use CHAR with and SWITCH statement.
    So a wrote an basic code like this just for testing it out.


    DECL cStatus[80]
    cStatus[]="full"


    SWITCH cStatus[]


    CASE "full"
    ;
    ; bla bla bla
    ;
    CASE "empty"
    ;
    ; yea yea yea
    ;
    CASE "done"
    ;
    ;
    ;
    DEFAULT
    ;
    ;
    ENDSWITCH


    When I load the code to robot it keeps complaining about syntax errors... Changed code according to the errors but when I got some errors to disappear, new ones occurs.
    Did an other test using integers and it worked fine. No problems...


    Can anyone give me some working examples? Or at lest tell me what I'm doing wrong.


    I'll could use normal IF statement but it would be much more conveniently to use SWITCH.


    -zicki

  • UDP interface

    Hi


    Okey I´m taking back my words
    I asked our PLC guy and Yes it is possible on Omron at least to see the source of the packed. I was actual doing the testing be twine my pc and KRC4. And on my PC software i could not see the source. Only in TCP mode.


    Still confusing by the Kukas port assignments...


    Isin't it there any way to make KRC4 use the configuration port in xml file without making it acct as server?


    -zicki

  • UDP interface

    Quote from panic mode

    [size=2]


    Why? Isn't this contained in the ethernet frame?


    [/size]


    On TCP yes but not on UDP. Using UDP protocol I basically just open a door that contains the port nr and start to receive packets thru that door/port not knowing the source of the packet.


    Quote from panic mode

    [size=2]


    PLC is supposed to see the same data that WireShark sees.[/size]


    Same answer as last answer. On TCP yeas but not UDP



    The benefit using UDP protocol is faster communication and we don’t need to make a binding connection to the server. We just mark the packet with destination ip address and port nr and ship it off. And if the receiver does not respond with and specific ack message we send the same packets again.
    We have tested and implemented this kind of interface on many cell for years using abb robots and it works fine. On abb robot the port nr is predefined (UDP) so I always know were to send from PLC.


    -zicki

  • UDP interface

    Hi


    KRC4 V8.3.37
    EthernetKRL V2.2.9


    Any one here that is can help me out with an UDP interface problem. Trying to set up an UDP protocol based interface betwine KRC4 and PLC.
    In the XML config file I have configuration EXTERNAL/TYPE to server.


    Receiving messages from robot to PLC is no problem but responding to right port number on robot is a little tricky. Read the Ethernet manual that if I configuration EXTERNAL/TYPE to server, the INTERNAL/TYPE port number is ignored. So the robot is using random port numbers every time it opens an new connection. If I use WireShark tool to capture the message from robot I'm able to find out what port it uses and respond back successful to that port. But of course I can´t use that method all the time.


    Changing EXTERNAL/TYPE to client wont work for us because robot is the one that is sending packets first.
    Using TCP protocol in not an option for us but I did do some testing with it and it worked fine then. Reason it worked is that I´m able so see the ip and port number of the connected client i TCP/protocol.


    -zicki

  • TCP Connection

    I know it all the time, there has to be some basic stuff I'm missing here. And know I found it...


    Got it working by turning off windows firewall. :mad: :baseball: :dance2:


    zicki

  • TCP Connection

    Hi Andrea


    I have read about the log but forgotten it.
    Tried this morning again whit port number 54610 on both sides. Same problem...


    Hear is the log. Does not tell me much...


    ERROR tFctCall 07:36:41.048 : CTcpSock: Could not connect to '192.168.10.25':'54610' (Code 70)
    WARN tFctCall 07:36:41.048 : CSystemCall: $Flag[510] is already '0'! Possible lost of interrupt edge at tick:88604356
    ERROR tFctCall 07:36:41.048 : CIoDevice: Failed to connect to '192.168.10.25:54610'. (Code=-1)
    ERROR tFctCall 07:36:41.048 : CConnection: CIoDevice could not open connection. (Code: 14)
    ERROR tFctCall 07:36:41.048 : EFC_eki_Open: Failed to open channel 'XmlSender'. (Code=14)



    To be sure pc side is working correctly, I used command prompt and netstat -an command. From there I can clearly see that the server is started up and in listening state.


    TCP 192.168.10.25:54610 0.0.0.0:0 LISTENING


    Any cable issues there should not be, cause the other application were robot acted as server worked fine.


    I have also asked help from Kuka support line but they haven't yet found any solution...


    -zicki

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