Posts by Em-n-Em

I'm writing this as a note to myself in the future, and anyone else who has the unfortunate task of deciphering kuka errors. The following events happened a year apart and it took too long for me to remember the second time around what was done the year prior.

First time this error show up was with the following specs:
KSS 8.6.8
ConveyorTech 8.0.3

Second time was with different specs:
KSS 8.3.33
ConveyorTech 6.0.5

The relevant errors/messages that occurred were:

• KSS000097
  Sensor mastering failed Sensor [1]
• MDR: Change of device LinearConveyor1 Status from ERROR to ACTIVE not permissible
  Originator: /R1/CELL

Note that LinearConveyor1 is the name of the conveyor in the project, this might show up differently for someone else's project.

The wording of error 000097 made me think we had an axis that was unmastered , but robot was able to run other motion programs that did not use ConveyorTech. Also, the mastering page in the menu showed that no axis was unmastered. This is what confused me and led me down a rabbit hole. In the end, there was a diagnosis page that showed that the RDC was faulted (see images), and when further clicking into the fault, it showed that there was a temperature error on channel 7. Channel 7 is where the ConveyorTech resolver was connected to the RDC. Changing out the resolver cable fixed the issue.

I realize this thread is old, but SkyeFire you're describing something I've been trying to find with little luck.

I think I understand the workspace and using outputs to inputs method, but could you elaborate on the handshake method? As I understand, handshakes are used to establish communication between devices. Do you mean using something like EthernetKRL to send position data between the robots?

In case you need context:

I'm currently researching how to have two robots monitor each while working on the same workpiece, but opposite each other. I was thinking of creating volumes with the workspace that divide the workpiece in half. However, there may need to be work done on the workpiece near or across the workspace boundary. I'm not sure how to make sure that when one robot is near (given some tolerance) or at the boundary, that the other can't go near the boundary at the same time.

Thanks!

Thanks Panic!

I made the change but my $Flag[100] still isn't turning true.

I guess that means that nothing from Scanner_To_Robot is coming through then?

Could this have something to do with the XML configuration written in all caps, and the robot program written in lower case? I know XML files are case sensitive, but KRL isn't.

Hello,

I'm currently working on sending data from a server to a kuka robot with little luck getting data through. The goal is: a scanner will scan material for defect points, and the robot will receive those points using EthernetKRL. Right now the server sends the data manually (I use a setup program to send the data myself, no auto-response yet). I confirmed that the server works with my laptop, using PuTTY to connect to the same port, and manually send data over. To keep things simple I started with sending a bool, a string, an int, and a real to test the data transfer.

So far the program I have to initialize and open a connection to the server looks fine. I also included an interrupt to wait for data to be available after it has been sent from the server. The "Alive" flag[98] turns true, letting me know the connection is made. Then I'll manually send the data from the server, but the robot program just sits there waiting for the flag to let it know that data is available. I don't get any notifications from the EKI_CHECK() instructions I put in, so I'm not sure how else to check what's gone wrong.

I included my Get_Defects() code below. You'll notice Defects_Read[] is initialized (declared in the .dat file, so not shown here), but it isn't used yet. This is where I'll eventually be copying an array of reals once I get data transferring correctly. I also included my repairs.xml file. You'll see the real array is commented out.

I'm very new to data transfer and how that works, as well as to kuka robots in general. I'm hoping for some ideas on what I can do/read to figure out why the data isn't transferring to the robot, but I can do it on my laptop using PuTTY. Even questions I can ask the Kuka help desk, or things I need answered about the server end. Any help would be greatly appreciated.

Thanks!

DEF GET_DEFECTS()

    ; Declarations 
   $FLAG[99]=FALSE
    
    ;Initialization
     ;FOLD INI;%{PE}
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3 
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD USER INI
    
    ; Initialize or clear the Defects Array before putting new values into it
    FOR i = 1 to 512 STEP 1
        Defects_Read[i] = 0
    ENDFOR
    
    ; Interrupt program and get data when available
    INTERRUPT DECL 89 WHEN $FLAG[100]==TRUE DO GET_DATA()
    INTERRUPT ON 89
    
  ;ENDFOLD (USER INI)
 ;ENDFOLD (INI)
    
       
    ; Initialize and open the XML file from the Scanner
    RET = EKI_Init("repairs")
    EKI_CHECK(RET,#notify,"repairs")
     RET = EKI_Open("repairs")
     EKI_CHECK(RET,#notify,"repairs")

    ;wait until data read
    WAIT FOR $FLAG[99]
   
    ; Close the XML file and clear the values stored from it
    RET = EKI_Close("repairs")
    EKI_CHECK(RET,#notify,"repairs")
    RET = EKI_Clear("repairs")
    EKI_CHECK(RET,#notify,"repairs")

    
    
END



DEF GET_DATA()

  DECL INT j, ValueInt
  DECL BOOL ValueBool
  DECL REAL ValueReal
  DECL CHAR ValueChar[256]
  
  FOR j=1 TO 256  
    valueChar[j]=0
  ENDFOR 
  valueInt=0
  valueReal=0.0
  valueBOOL=FALSE
  

    ; Copy defect values from the Defects variable in the 
    ; XML file to the Defects_Read variable in the KUKA
    ; Wait for the flag signaling all values have been read before closing & clearing
    ;RET = EKI_GetRealArray("repairs","Scanner_To_Robot/Defects",Defects_Read[])
    
  RET=EKI_GetBool("repairs","Scanner_To_Robot/TestVar/VarBool", ValueBool)
  RET=EKI_GetInt("repairs","Scanner_To_Robot/TestVar/VarInt", ValueInt)
  RET=EKI_GetString("repairs","Scanner_To_Robot/TestVar/VarChar", ValueChar[])
  RET=EKI_GetReal("repairs","Scanner_To_Robot/TestVar/VarReal", ValueReal)


    
    ; Reset flags
    $FLAG[100] = FALSE
    $FLAG[99] = TRUE
    
    
END

<ETHERNETKRL>
    <CONFIGURATION>
    <!--"EXTERNAL" Describes the external module (scanner), pg 21-22 in EthernetKRL manual-->
        <EXTERNAL>
            <TYPE>Server</TYPE> 
            <IP>172.31.1.100</IP>
            <PORT>26000</PORT>
        </EXTERNAL>
        <!--"INTERNAL" Describes the internal module (KRC), pg 22-24 in EthernetKRL manual-->
        <INTERNAL>
            <ENVIRONMENT>Program</ENVIRONMENT>
            <BUFFERING Mode="FIFO" Limit = "512"/>
            <BUFFSIZE Limit="65534"/>
            <TIMEOUT Connect="10000"/>
            <ALIVE Set_Flag="98" Ping="200"/>
            <PROTOCOL>TCP</PROTOCOL>
            <MESSAGES Logging="error" Display="error"/>
        </INTERNAL>
    </CONFIGURATION>
    <RECEIVE>
        <XML>
            <ELEMENT Tag="SCANNER_TO_ROBOT/TESTVAR/VARBOOL" Type="BOOL"/>
            <ELEMENT Tag="SCANNER_TO_ROBOT/TESTVAR/VARCHAR" Type="STRING"/>
            <ELEMENT Tag="SCANNER_TO_ROBOT/TESTVAR/VARINT" Type="INT"/>
            <ELEMENT Tag="SCANNER_TO_ROBOT/TESTVAR/VARREAL" Type="REAL" Set_Flag="100"/>
            <!--<ELEMENT Tag="SCANNER_TO_ROBOT/DEFECTS" Type="REAL" Set_Flag="100"/>-->
        </XML>
    </RECEIVE>
</ETHERNETKRL>

Robot: KR 90 R3700K Prime C4 FLR

Controller: KR C4 NA

KSS: V8.3.33

Kernel: KS V8.3.329

EthernetKRL: Version 2.2.9

Robot IP Address: 172.31.1.147

Server IP Address: 172.31.1.100

Server Port: 26000

Laptop IP Address: 172.31.1.230