Posts by AndreaLu

Quote from SkyeFire

It sounds as if IR_STOPM was modified to link to one (or more) of the modules you deleted. If those modules are not needed, then it may be simplest to fix IR_STOPM.

Since you provided no information about your KRC model or KSS version, it's difficult to provide any detailed suggestions. I recommend looking at the error list in IR_STOPM and comment out the lines that have errors:

The DISPLAY button should jump you directly to the line in IR_STOPM that is causing the error.

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thank you SkyeFire,this is the screen info of IR_STOPM: [kss 8.5]

I deleted some .src and .dat files(in R1\Program ),then i select another one src file ,and try to run it.

but robot shows error:

[error no] : 2029

[info] : syntax error in module: /R1/IR_STOPM

unfortunately....i found these deleted files cannot be restored .

Need help...thank you very much.

Quote from hermann

As we know the tool datas are stored in simple array variables of type frame, so we can write the data in src like:

Code

tool_data[1]={X 100,Y 0,Z 200, A 0, B 0, C 0}

vielen danke Hermann

As we known,people can define the tool data(x,y,z ABC) in kuka's teachpad,but it would be more convient to wirte the tool data in src, something like this to define Tool 1 in .src file :

&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF KUKAProg ( )

Tool:ID=1,X=100,Y=0,Z=200,A=0,B=0,C=0   // something like this

.............

do you know how to do that exactly?Thank you very much

i am learning RSI these days.I learned some from the demos of RSI package.

But

A big question around me:

the question is:

As we known,the robot can move only around a limitation of a "Fixed XYZABC pose"(in about 5mm)

so this "Fixed XYZABC pose" is so important is acts like a "original pose".

so..when the robot move a little away from this "Original" point, When robot have finished moving, the question is: How to update the "Original" pose by current pose? because in this way i can send new signals to robot to move a bigger range (if I always updating the Original pose)

Thank you very much for help~

Quote from SkyeFire

Because using RSI can be so dangerous, of course the example programs are deliberately limited.

The limits are most likely set by a module in the RSI application, which you would have to edit using RSIVisual in WV.

ok ,thank you SkyeFire

Quote from SkyeFire

That's not how RSI works. RSI is for realtime control. As such, you do not send it a destination. Instead, every 12ms (or 4ms for IPO-Fast mode), without fail, you must send the robot a corrective value. And the robot will attempt to apply this correction within 12 ms.

This means that, if you send the robot a 1deg correction for A1, the robot will attempt to move at 1/0.12=83.3deg/sec, even if the robot is in Teach Mode. This is physically impossible for the robot to achieve, but it will try. And this will be very dangerous for anyone nearby. It will also probably generate faults.

Moving the robot with RSI requires building a PID algorithm inside the RSI application, and sending the robot very small corrections. Those corrections are cyclically sampled and applied every IPO cycle, and need to be processed through a well-tuned PID in order to avoid acceleration faults, overshoots, hunting behavior, and other pitfalls. And those corrective inputs must scale down to 0 smoothly as the robot approaches the desired location.

thank you SkyeFire,in "ethernet" example, the "target" of TCP is fixed(in this example is:PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0}),in this example, robot just only move around this"target" in 5mm and 5 degree limitation.so ,my question is ,how can people change this "target" in program a little (i know the pose should be changed a little every time). so in this way robot can do more work( play pingpang or pick some thing)

i am learning RSI 4.0 at kuka 8.5.

and i run a "ethernet"example of rsi package.

this is code of "ethernet" src:

&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF RSI_Ethernet( )
; =============================================
; 
; RSI EXAMPLE: ETHERNET communication
; Realtime UDP data exchange with server application
;
; =============================================

; Declaration of KRL variables
DECL INT ret    ; Return value for RSI commands
DECL INT CONTID    ; ContainerID

;FOLD INI
  ;FOLD BASISTECH INI
  BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD USER INI
    ;Make your modifications here
  ;ENDFOLD (USER INI)
;ENDFOLD (INI)

; Move to start position
PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0}

; Create RSI Context 
ret = RSI_CREATE("RSI_Ethernet",CONTID,TRUE)
IF (ret <> RSIOK) THEN
  HALT
ENDIF

; Start RSI execution
ret = RSI_ON(#RELATIVE)
IF (ret <> RSIOK) THEN
  HALT
ENDIF

; Sensor guided movement
RSI_MOVECORR()

; Turn off RSI 
ret = RSI_OFF()
IF (ret <> RSIOK) THEN
  HALT
ENDIF

PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0}

END

the result of this example is :when add or minus position value of TCP from PC server application,the robot moves a little(in 5mm and 5degree limit),so it cannot move too much.

But i want robot move without this limit,for example i give robot a Angle or Line or PTP command,the robot TCP can go to to any postion in its reachable area.

How to code it ,have you any example (src and server app)?

Thank you!

Quote from SkyeFire

...that tells us exactly nothing. "Something like OpenVPN" covers a huge number of possibilities. When you start adding network complexities like this, just being able to ping is no guarantee of success with anything more complex.

What is between the KRC and the target PC? Is the system in between handling the routing correctly? Is it configured to forward the port properly?

You have both systems on 10.168 -- what are the netmasks? Are you certain that the ping traffic is even going over "openVPN?"

Have you used WireShark or NetCat at different points along the network to see how far the packets are reaching? Have you tried NMap from the target PC, pointed at the KRC?

Thank you skyeFire,i will check them.

i success on connect a PC and KUKA by ethernetkrl in a LOCAL network.(use a KUKA ethernetkrl demo "BinaryFixed" in installation package).

Then,I put PC and KUKA in two different network(PC in 10.168.2.103, KUKA in 10.168.1.100),and use a techniq something like"openVPN",then PC can Ping KUKA(10.168.1.100),and KUKA can Ping PC(10.168.2.103),all are successfully,But i found PC and KUKA can not connect in BinaryFixed demo....(i have changed the BinaryFixed.xml to 10.168.2.103,and close all the firewall on KUKA and PC)

Because they can Ping each other in different network,so i donnot know why they cannot establish connect by ethernetkrl,need you help,Thank you very much!

Quote from hermann

Can't recognize the meaning of the program, but try:

Code

DEF FinalXMLCMD( )


BAS (#INITMOV,0 )


$BWDSTART = FALSE
PDAT_ACT = {VEL 15,ACC 30,APO_DIST 50}
FDAT_ACT = {TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
BAS (#PTP_PARAMS,10)
PTP  {A1 20, A2 -70, A3 132, A4 24, A5 -64, A6 29, E1 0, E2 0, E3 0, E4 0}
$VEL.CP=0.25
$APO.CDIS=1.5
$ADVANCE=0


PTP {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP
LIN {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS


RET=EKI_Init("FinalXMLCMD")
RET=EKI_Open("FinalXMLCMD")
EKI_CHECK(RET,#QUIT)
$FLAG[998]=false
INTERRUPT DECL 89 WHEN $FLAG[998]==TRUE DO InterMove()


WHILE GIsLoop
    if not $flag[998] then   ; No Interrupt active --> wait for interrupt
     MyWait()
     ; program comes back here after resume
    endif
    if $flag[998] then  ; to prevent moving after GIsLoop is false
     my_move()
     ; program comes back here after finished movement with $flag not set
     ; program comes back here after resume if interrupt occurs during movement, with $flag set
    endif
ENDWHILE


RET=EKI_Close("FinalXMLCMD")
RET=EKI_Clear("FinalXMLCMD")
END


;;=======================================


DEF MyWait()
 INTERRUPT ON 89
 loop
  WAIT SEC 0.1
 endloop
END


def my_move()
  FRAME valueFrame
    $FLAG[998]=FALSE
    valueFrame={X 0.0,Y 0.0,A 0.0,B 0.0,C 0.0}
    valueFrame.Z=100
    LIN_REL valueFrame
end
;;=======================================


DEF InterMove()
 interrupt off 89
 brake 
 wait sec 0
 resume
END
[code]

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Thank you Hermann,i have tried your program,it works nice,and i can send another xml to robot even robot is runing in a interrupt method.after the previous interrup method has finished,immediatelly robot can run another 100 mm.
but another request is,I really want to interrupt(means stop) a running interrupt method and to begin a new interrupt(also by xml),it means when the previous interrupt is running(maybe in Z-up 60mm),i send a new xml,and the robot can immediately stop robot,and make a 100mmZ-up?(it means in the final the robot total Z-up is 160mm),how to write the code,thank you very much!

Quote from veronicav

Hi AndreaLu,

I'm going to assume you have a KRC4 with KSS8.3 or similar.

I think one of your issues is that you're using a BRAKE command and there is no RESUME. Since you haven't turned off the interrupt while the InterMove routine is running, the interrupt can be triggered again (mid-path). The BRAKE command carries out the last InterMove you have, but does not resume any of the previous paths or routines.

Check the Expert Programming manual to see how INTERRUPT, BRAKE and RESUME can be used together.

Hope that helps.

Veronica,i do have resume ,and as you told me ,i add "INTERRUPT OFF 89"at the InterMov,but also the problem exist.......

i have a code,simplified here:

DEF FinalXMLCMD( )
BAS (#INITMOV,0 )


$BWDSTART = FALSE
PDAT_ACT = {VEL 15,ACC 30,APO_DIST 50}
FDAT_ACT = {TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
BAS (#PTP_PARAMS,10)
PTP  {A1 20, A2 -70, A3 132, A4 24, A5 -64, A6 29, E1 0, E2 0, E3 0, E4 0}
$VEL.CP=0.25
$APO.CDIS=1.5
$ADVANCE=0 


PTP {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP
LIN {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS


RET=EKI_Init("FinalXMLCMD")
RET=EKI_Open("FinalXMLCMD")
EKI_CHECK(RET,#QUIT)
INTERRUPT DECL 89 WHEN $FLAG[998]==TRUE DO InterMove()


WHILE GIsLoop
    INTERRUPT ON 89
    MyWait()
    INTERRUPT OFF 89
ENDWHILE


RET=EKI_Close("FinalXMLCMD")
RET=EKI_Clear("FinalXMLCMD")
END
;;=======================================
DEF MyWait()
 WAIT SEC 0.1
END
;;=======================================
DEF InterMove()
FRAME valueFrame 
valueFrame={X 0.0,Y 0.0,A 0.0,B 0.0,C 0.0}
$FLAG[998]=FALSE


brake
valueFrame.Z=100
LIN_REL valueFrame
resume 


WAIT SEC 0
END

when i make flag998 true(by send xml to robot),the robot will move up 100mm(it takes maybe 2 seconds),and when robot finish moving(it means i must wait 2 seconds later),when the robot is stop,then i send another xml to robot to make flag998 on,the robot will move another 100mm in Z,it is as i expected.no problem.
but......if i send another xml before robot finishing moving up 100mm(i hope to brake the previous Z moving,and begin a new 100mm up),the robot will still moving untill the previous 100mm up moving is finished,then,robot will not go another 100mm up moving,and stop there refuse to moving any more(even i send xml to make flag998 true,robot will no move again...)......(so the only thing i can do is to restart the src file)
any one can help?thank you very much!

Thank you for all,yesterday i read a post and successed!
https://www.robot-forum.com/robotforum/kuk…re-for-resume)/

i also donnt know why it success......

Quote from Mentat

Not 100% sure, and can't test at the moment, but I think you need BRAKE before LIN movement in the interrupt procedure and RESUME after it:

BRAKE
LIN_rel {z 10}
RESUME

i tried, but failed,it show: impermissible program structure for resume....kss01584

Quote from hermann

Try something like this:

Code

&ACCESS RVP
&REL 6
&PARAM SensorITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program
DEF FinalXML( )
REAL temp
BOOL GIsLoop
DECL EKI_STATUS RET
GIsLoop=TRUE
temp=0;
 
BAS (#INITMOV,0 )


INTERRUPT DECL 89 WHEN $FLAG[998]==TRUE DO GET_DATA()
INTERRUPT ON 89


$BWDSTART = FALSE
PDAT_ACT = {VEL 15,ACC 30,APO_DIST 50}
FDAT_ACT = {TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
BAS (#PTP_PARAMS,10)
PTP  {A1 20, A2 -70, A3 132, A4 24, A5 -64, A6 29, E1 0, E2 0, E3 0, E4 0}


$VEL.CP=0.25
$APO.CDIS=1.5
$ADVANCE=3


PTP {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP
LIN {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS


RET=EKI_Init("FinalXML")
RET=EKI_Open("FinalXML")
EKI_CHECK(RET,#QUIT)


$ADVANCE=0  ; !!!!!!!!!!
WHILE GIsLoop
 endless()   ; !!!!!
ENDWHILE


RET=EKI_Close("FinalXML")
RET=EKI_Clear("FinalXML")
END


DEF ENDLESS()
 loop
  RET=EKI_SetReal("FinalXML","Robot/Data/RealA", temp)
  temp=temp+1 
  RET = EKI_Send("FinalXML","Robot") 
  WAIT SEC 1
 endloop
END


;;===============================================
DEF GET_DATA()
 FRAME valueFrame 
 $FLAG[998]=FALSE
 brake


 valueFrame={X 0.0,Y 0.0,A 0.0,B 0.0,C 0.0}


 valueFrame.Z=10
 LIN_REL valueFrame
 resume   ; !!!!
END

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i tried, but failed,it show: impermissible program structure for resume....kss01584

as the title,i really want to use a interrupt like this:
the main program is in a loop where every 1 second to send something to external PC.
and when the interrupt is on(by ethernet xml),the subprogram B will be called,in B, use LIN_REL to move up 10mm.then stop in its moved position,and return to main program.

i wrote the src program,but the pedant tell me "repostion error",can you give some suggestion?i will be very glad to hear your advice.thank you.

this is code:

&ACCESS RVP
&REL 6
&PARAM SensorITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program
DEF FinalXML( )
REAL temp
BOOL GIsLoop
DECL EKI_STATUS RET
GIsLoop=TRUE
temp=0;
 
BAS (#INITMOV,0 )


INTERRUPT DECL 89 WHEN $FLAG[998]==TRUE DO GET_DATA()
INTERRUPT ON 89


$BWDSTART = FALSE
PDAT_ACT = {VEL 15,ACC 30,APO_DIST 50}
FDAT_ACT = {TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
BAS (#PTP_PARAMS,10)
PTP  {A1 20, A2 -70, A3 132, A4 24, A5 -64, A6 29, E1 0, E2 0, E3 0, E4 0}


$VEL.CP=0.25
$APO.CDIS=1.5
$ADVANCE=3


PTP {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP
LIN {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS


RET=EKI_Init("FinalXML")
RET=EKI_Open("FinalXML")
EKI_CHECK(RET,#QUIT)


WHILE GIsLoop==TRUE

RET=EKI_SetReal("FinalXML","Robot/Data/RealA", temp)
temp=temp+1
RET = EKI_Send("FinalXML","Robot")
WAIT SEC 1


ENDWHILE


RET=EKI_Close("FinalXML")
RET=EKI_Clear("FinalXML")
END


;;===============================================


DEF GET_DATA()


FRAME valueFrame
$FLAG[998]=FALSE


valueFrame={X 0.0,Y 0.0,A 0.0,B 0.0,C 0.0}


valueFrame.Z=10
LIN_REL valueFrame


END

Quote from SkyeFire

Post your code.

Your interrupt program generally needs to end with a WAIT FOR TRUE or something else to prevent the Advance Run Pointer from getting back into the main loop before the motion is finished.

skyefire,i have update the post ,now has code

as the title,i really want to use a interrupt like this:
the main program is in a loop where every 1 second to show something like $pos_act in pedant.
and when the interrupt is on(by ethernet xml),the subprogram B is called,in B, use LIN_REL to move up 10mm.then stop in its moved position,and return to main program.

i wrote the src program,but the pedant tell me "repostion error",can you give some suggestion?i will be very glad to hear your advice.thank you.

this is code:

&ACCESS RVP
&REL 6
&PARAM SensorITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program
DEF FinalXML( )
REAL temp
BOOL GIsLoop
DECL EKI_STATUS RET
GIsLoop=TRUE
temp=0;
 
BAS (#INITMOV,0 )


INTERRUPT DECL 89 WHEN $FLAG[998]==TRUE DO GET_DATA()
INTERRUPT ON 89


$BWDSTART = FALSE
PDAT_ACT = {VEL 15,ACC 30,APO_DIST 50}
FDAT_ACT = {TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
BAS (#PTP_PARAMS,10)
PTP  {A1 20, A2 -70, A3 132, A4 24, A5 -64, A6 29, E1 0, E2 0, E3 0, E4 0}


$VEL.CP=0.25
$APO.CDIS=1.5
$ADVANCE=3


PTP {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP
LIN {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS


RET=EKI_Init("FinalXML")
RET=EKI_Open("FinalXML")
EKI_CHECK(RET,#QUIT)


WHILE GIsLoop==TRUE

RET=EKI_SetReal("FinalXML","Robot/Data/RealA", temp)
temp=temp+1
RET = EKI_Send("FinalXML","Robot")
WAIT SEC 1


ENDWHILE


RET=EKI_Close("FinalXML")
RET=EKI_Clear("FinalXML")
END


;;===============================================


DEF GET_DATA()


DECL EKI_STATUS RET
REAL valueReal
FRAME valueFrame
$FLAG[998]=FALSE
valueReal=0.0
valueFrame={X 0.0,Y 0.0,A 0.0,B 0.0,C 0.0}


;RET=EKI_GetReal("FinalXML","Command/RealA",valueReal)
;valueFrame.Z=valueReal
valueFrame.Z=10
LIN_REL valueFrame


END

Quote from panic mode

You are trying to do some timing.... Hmmm... Why not use timer?

Code

DEF Forge()
	DECL INT T1,T2 ; declare timer presets
	DECL INT Sync  ; choose one timer (1..64)


	Sync=64  ; pick timer that is not already used
	T1= 60000; ms - initialize time values
	T2= 73000; ms


	$TIMER_STOP[Sync]=TRUE ; stop timer






	; create interrupts to be executed when timer reaches T1 and T2
	INTERRUPT DECL 21 WHEN $TIMER[Sync]>T1 DO T1_Done()
	INTERRUPT DECL 22 WHEN $TIMER[Sync]>T2 DO T2_Done()
	INTERRUPT ON 21
	INTERRUPT ON 22 


	LOOP
		$TIMER[Sync]=0          ; reset timer
		$TIMER_STOP[Sync]=FALSE ; start timer

		PickRod()
		ForgeEnd1()
		ReorientateRod()
		ForgeEnd2()
		PlaceRod()
	ENDLOOP 
END


DEF T1_Done()
    MsgNotify("Time T1 Done... Starting heater")
	Pulse(,,)
END


DEF T2_Done()
    MsgNotify("Time T2 Done... Adding more bacon")
	Pulse(,,)
END

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when i run this program,the program meet a error in this place :INTERRUPT DECL 21 WHEN $TIMER[Sync]>T1 DO T1_Done()
the pedant shows: Variable not declared in data list
thank your for help.....