Solved by myself. Thank you
Posts by Bumblebee
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OK fine. I will do it in auto mode just make sure that the KRL program is running continuously.
But today the problem is to establish the connection.
The XML file is the same that I use yestarday but I am not able to connect to the server application using the function ST_ETHERNET.
The XML file is the following:
ROOT>
<CONFIG>
<IP_NUMBER>192.168.10.11</IP_NUMBER>
<PORT>6008</PORT>
<PROTOCOL>TCP</PROTOCOL>
<SENTYPE>ImFree</SENTYPE>
<PROTOCOLLENGTH>OFF</PROTOCOLLENGTH>
<ONLYSEND>FALSE</ONLYSEND>
</CONFIG>
<SEND>
<ELEMENTS>
<ELEMENT TAG="DEF_RIst" TYPE="DOUBLE" INDX="INTERNAL" UNIT="0" />
<ELEMENT TAG="DEF_AIPos" TYPE="DOUBLE" INDX="INTERNAL" UNIT="0" />
<ELEMENT TAG="Data.X" TYPE="DOUBLE" INDX="1" UNIT="1" />
<ELEMENT TAG="Data.Y" TYPE="DOUBLE" INDX="2" UNIT="1" />
<ELEMENT TAG="Data.Z" TYPE="DOUBLE" INDX="3" UNIT="1" />
<ELEMENT TAG="Data.A" TYPE="DOUBLE" INDX="4" UNIT="0" />
<ELEMENT TAG="Data.B" TYPE="DOUBLE" INDX="5" UNIT="0" />
<ELEMENT TAG="Data.C" TYPE="DOUBLE" INDX="6" UNIT="0" />
<ELEMENT TAG="Tare" TYPE="BOOL" INDX="7" UNIT="0" />
</ELEMENTS>
</SEND>
<RECEIVE>
<ELEMENTS>
<ELEMENT TAG="RKorr.X" TYPE="DOUBLE" INDX="1" UNIT="1" HOLDON="0" />
<ELEMENT TAG="RKorr.Y" TYPE="DOUBLE" INDX="2" UNIT="1" HOLDON="0" />
<ELEMENT TAG="RKorr.Z" TYPE="DOUBLE" INDX="3" UNIT="1" HOLDON="0" />
<ELEMENT TAG="RKorr.A" TYPE="DOUBLE" INDX="4" UNIT="0" HOLDON="0" />
<ELEMENT TAG="RKorr.B" TYPE="DOUBLE" INDX="5" UNIT="0" HOLDON="0" />
<ELEMENT TAG="RKorr.C" TYPE="DOUBLE" INDX="6" UNIT="0" HOLDON="0" />
<ELEMENT TAG="Manipulation.AxisLimit" TYPE="BOOL" INDX="7" UNIT="0" HOLDON="0" />
<ELEMENT TAG="Manipulation.SingulHit" TYPE="BOOL" INDX="8" UNIT="0" HOLDON="0" />
<ELEMENT TAG="Manipulation.MaxSpeedHit" TYPE="BOOL" INDX="9" UNIT="0" HOLDON="0" />
</ELEMENTS>
</RECEIVE>
</ROOT>
Yestarday I was able to connect today no. I don't knwo why. Do you have any suggestion on what to do ora check?
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The program is running until the function ST_SKIPSENS() and when I try to modify the position from the server application the motors don't goes in power and the robot doesn't move.
The $OUT and $IN linked to ST_ETHERNET in the forlders are commented because I don't need to connect any signal right now.
Furthermore today I have started the program but it doesn't work and give me in output the error message RSI: error in function <ST_ETHERNET>. The program is the same as yestarday and it worked perfectly as show in the picture that I have sent.
The only thing that I did was to install KUKA_Router. I don't know if it is the problem or not.
Please help
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I am facing the same issue, do you have the possibility to share the solution?
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I have run only the RSIEthernet.SRC file commenting the RSI object folder. The program consist in establish the connection with an external PC and, I think, try to move the robot using the serverAppplication.
So the program is developed as follow:
- establish the connection using the function ST_ETHERNET. The connection can be verified using the server application
- Activate the function ST_PATHCORR to allow the path correction
- Start RSI execution with ST_ON1 function
- Start the function ST_ ST_SKIPSENS to allows a pure sensor guided movement with corrections from ST_PATHCORR
I have attache dthe zip where can find the example program and imgs.
Thank you for the support.
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Hello everyone,
I am running into an issue. I am trying to control a KR2-150 robot with KRC2 via RSI corrections. I can successfully connect a remote PC to my KRC2 controller, and can see traffic coming from the robot into the serverApplication. But when I send corrections, the robot does not move.
Specs:
KRC2 controller
KR2-150 robot
KSS 5.6
RSI 2.3
Can connect to KRC2 via demo KRL and custom program on external PC
As mentioned I can connect and sustain the connection with RSI, I can see on teh serverApplication the current robot position. But when I send non-zero correction, the robot does not move.
I have done all of the above in T1 mode.
Just looking for any thoughts on what I might have missed.
Thanks!
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Hello everyone,
I am facing the same problem and unfortunately I don't know where is located the XML file that you are talking about.
Could you please tell the directory.
Thank you