Hi,
Actually, you should mention your KSS version, because KUKA.ConveyorTech7.0 or newer support the new function called external conveyor allowing you to integrate the 3rd encoders to ConveyorTech. But It has to be done over Fieldbus like PROFINET and EtherCat, of course, You have to write your own PLC program to send and receive the signal to the robots.
Briefly, I would summarize the topologies for your reference.
Hello,
I have tested with ROS example https://github.com/cjlh/kuka-rsi-ros-interface and It worked well.
Supposedly you are using the newer KSS with the newer RSI version, which requires a different RSI diagram. So you might have to rewrite a new RSI diagram in Workvisual based on their RSI_Ethernet configuration file.
Br,
Huy
just my thought!
If you want to have a fast motion response, RSI would be a better option compared to EKI, especially you execute the motion first then get the coordinate from the external devices.
Not so sure about your application but you can try to send the entire position set first(store them in an array) then execute the motion planning later in a FOR loop. It might help you in this situation.
Br
Normally with Smartpad Issue, I would check the firmware update of KUKA.Smartpad on their Xpert and also the current firmware. Your KSS is 8.6.6, therefore your Smartpad should be version 2. KUKA might have some software issues with this version and they provide the firmware update regularly, for which I recommend you to fix by software first before hardware troubleshooting.
Select auto reset after error would solve your problem.
Display MoreHi Quang,
Thank you so much for your advice. I was really inspired that there is a software to check connection detail. Finally I make my own program working!
Your project looks quiet fun, what's that for? Using joystick to control robot?
bests,
Arthur Wong
Hi Wong,
Basically it is!
Br,
Quang Huy
Hi Wong!
I also did a similar project as you are doing but with C# language (So I can not consult you with PYTHON :D)
I would recommend you first to use Hercules as an intermediate level to check for both connections from the robot and PC, not directly from the PC-python app to robot RSI because It would be difficult for debugging
Next, just make sure the network transmission frames are in order of receiver and sender sockets (an example is in the picture)
Hope it helps.
BR,
Quang Huy
KUKA Ethercat protocal doesnt support SOE(Servo over Ethercat), if you still want to control your own driver over Ethercat, you have to build your own library. About the mapping in workvisual, it wont allow you edit the PDO(position, speed, acceleration,...), you need to change the xml file of your driver then import to Wov. Furthermore, it might have problem with byte swapping when mapping over 2 bytes, just need to check value received from robot and value shown on the driver manufacturer software.
