@LowerCaseDream maybe this would help. Just disassemble sample client app. And catch the concept. I test this just for educational purposes.
@LowerCaseDream maybe this would help. Just disassemble sample client app. And catch the concept. I test this just for educational purposes.
Thx a lot. Wow how wrong was I . Once again thx a lot for explanation
Display MoreHi,
I was able to connect to KUKA OfficeLite and KUKA Office PC (real PC that runs KSS) through the Y200 interface and I hope my experience can help somebody. Please, see the detailed communication diagram attached.
Briefly about the main thing: the Server is a service program, which, in connection with the Y200 Interface, allows the coupling between the OLP application and the virtual robot controller (VRC) application KUKA.OfficeLite over TCP/IP network.
From my experience:
1. Y200 does not have to be licensed.
2. The VRC and Y200 interfaces cannot be installed together on the KRC virtual image, otherwise the Y200 interface will not work properly.
3. Y200 interface only works with KSS 8.5 and higher.
4. Use network address translation (NAT): the virtual machine and the host system share a single network identity that is not visible outside the network.
5. C:\KRC\User\Y200Interface.config file contains the Y200IpcName - the shared-memory name to access the KRC data.
6. The following data are stored on the shared memory: Inputs $IN[], Outputs $OUT[], Axis-specific position $AXIS_ACT, Cartesian position $POS_ACT, Current base $BASE and Current tool $TOOL. The Inputs can be read/written, but the outputs are only read access.
Sorry, I cannot share the source code, but feel free to ask any specific questions.
Any hint for message format? did try some XML schema, but no luck
Main question here is telegram format. Connection is easy. But tel format is mystery
Thanks for interest, i will first try it to see, is it possible to make some kind of jogging application with this solution, will post it here! Regarding your question about web server, well i am injecting Karel commands trought http request and passing arguments for register Nr and value. It is quite simple.
Actually i did figure it out, there is just two more things i want to dig it out, start a tp progrma from C# app, and write a register value from c# app. I have some ideas and will posted if succeeded!
Well i need it to read registers from Fanuc robot controler with a c# app, there is no any fieldbus interface installed, no profinet, no PCDK just plain TCP/IP. And there is a request for controlling a some of DO and RO with the app to. I menaged to find a simple and stil robust solution with ssi server side includes nak kcl command injections. The video is just proof of possible concept.
Well i will probably do it with the "dial", but EMT is best solution i will try one more combination and post the results. Thx for support
could you please help me with my problem
https://www.robot-forum.com/robotforum/kuk…t-cable-pinout/
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Hello,I also measured the adaptor for you....the connection is one to one (no cross cabling; 1->1, 2->2, 3->3, 4->4).
It looks pretty straightforward to me.As for the info, the two of the four cables are 24V and GND. The other two form a binary code of the status of the pin:
0 0 Fault
0 1 Pin moving out of probe
1 0 Pin moving into probe
1 1 StationaryWe are using the EMT and a microPLC in order to calibrate Motomans, Fanucs and Mits as they cannot do it by themselves!
Yes of course i have it. But i did find the pin numbering on robot side of connector it is a 5 pins connector and did the wiring as sugested,
but sensor is not powering up. So the combination:
1-1
2-2
3-3
4-4
is not the solution, what i did find if i connect the
1-4
2-2
3-3
4-1
Yellow -24DC
Brown -0DC
i got power on sensor but got zero fault reading when try to calibrate robot!
Any help please. I have 3 robots to calibrate
Pin 5 on 5 pin side is not connected!
Thx i will disasemle other side of connector to check the numbering! Will post the results.
Hello to all, i have a broken cable for calibration. It is broken on the 4 pin sensor side. Color code of wires are
1.Yellow
2.Brown
3.Green
4.White
i have a 24 DC voltage bettwen yellow and brow wire but don't know on which pin to solder it.
On connector side there is a marking 1-2-3-4
An update to this issue:We talked further with Kuka and their application specialist as we could not get the Anybus gateway to work and decided in the end to advise the customer to switch to use the Profinet protocol. With this we were able to quickly establish communications and this is now the solution that we will be going with.
Rich.
Did you follow the profinet tutorial, from KUKA??