KUKA Setup Instructions

This section introduces the process of loading the Standard Interface program onto a KUKA robot.

The process consists of 4 steps:

• Check Controller and Software Compatibility

• Setup the Network Connection

• Load the Program Files

• Test Robot Connection

Please have a flash drive ready at hand.

Check Controller and Software Compatibility

Compatibility requirements are as follows:

• Robot: 6-axis KUKA robot

• Controller model: KUKA KR C4

• Controller system software version: KSS 8.2 to 8.6

• Add-on software package: Ethernet KRL (V 2.2.8 or above)

Note

All teach pendant actions in this chapter are performed on KSS 8.6. The specific steps and menu selections may differ slightly in older versions of system software.

Setup the Network Connection

Hardware Connection

Plug the Ethernet cable into:

• An Ethernet port on the IPC

• The X66 port on KR C4 compact and KLI port on other KR C4 controllers

  
  

IP Configuration

To allow communication between the IPC and the robot controller, both must have an IP address in the same subnet. This means that the first three numbers of the IP addresses should be the same. For example, 192.168.100.1 and 192.168.100.2 are in the same subnet.

1. Check the IP address of the IPC: please use the ipconfig command in Command Prompt or PowerShell to check the IP address.

2. Switch to expert mode:

   1. Press on , and then select Configuration ‣ User group.

      

   2. Select Expert, enter the password (the default password is kuka), and press on Log on.

      

3. Press on , and then select Start-up ‣ Network configuration.

   

4. Input an IP address in the same subnet as that of the IPC, and then press on Save. Press on Yes and OK, respectively, in the next two pop-up windows.

   

   

5. Restart the robot to finish setting the IP address:

   1. Press on , and select Shutdown.

      

   2. Press on Reboot control PC.

      

Load the Program Files

Prepare the Files

The program files are stored in the installation directory of Mech-Center. The default directory is C:/Mech-Mind/Mech-Center.

Navigate to xxx/Mech-Center/mech_interface/kuka, and copy the following files to your flash drive.

• mm_module.src

• mm_module.dat

• XML_Kuka_MMIND.xml

Load the Files to the Robot

Note

Make sure you have switched to expert mode on the teach pendant. For instructions, see step 2 in IP Configuration.

1. Plug the flash drive to the controller.

2. Select the flash drive, and locate the above files.

3. Long-press and select mm_module.src and mm_module.dat, press on Edit, and then select Copy.

   

4. Navigate to KRC:/R1, and press on New.

   

5. Input mechmind for the folder name, and press on OK.

   

6. Select the mechmind folder, and press on Open.

   

7. Press on Edit, and then select Paste.

   

8. Navigate back to the flash drive, and copy XML_Kuka_MMIND.xml.

   

9. Navigate to C:/KRC/ROBOTER/Config/User/Common/EthernetKRL, press on Edit, and then select Paste.

   

Modify IP Address in XML file

1. Select XML_Kuka_MMIND.xml, and press on Open.

   

2. Press on line 4 where it says <IP>192.168.1.1<IP>, and press to change the IP address to the IPC’s actual IP address.

   

3. Check line 5 to see if the port number is correct. If not, change it to the IPC’s actual port number.

4. Press on and then Yes to save the changes.

   

Restart the Robot

1. Switch to administrator mode following the instructions of step 2 in IP Configuration. The default password is kuka.

2. Press on , and select Shutdown.

   

3. Select Cold start and Reload files, and then press on Reboot control PC.

   

4. Press on Yes in the pop-up window to restart the robot.

   

Test Robot Connection

Configure Mech-Interface in Mech-Center

1. Open Mech-Center and click on Deployment Settings.

2. Go to Mech-Interface, check Use Mech-Interface and select Standard Interface.

   

3. Set the following fields:

   • Interface Option: Set to TCP Server, HEX, and Little endian.

   • Listed robot: Select the robot model you are using.

   • Host Address: The default port number is 50000. If you need to change the port number, make sure to change it accordingly in the XML_Kuka_MMIND.xml on the teach pendant as well.

4. Click on Save.

   

5. Click on Start Interface in the Toolbar.

Run the Robot Program

1. On the teach pendant, open the mechmind folder, select mm_module.src, and then press on Select.

   

2. The following should appear on the screen.

   

3. Turn the key switch to horizontal, select T1 on the screen, and then turn the switch back to vertical.

   

4. Check the icon to the right of :

   • If it looks like , then skip this step.

   • If it looks like , then press on it and select in the drop-down window.

   

5. Press on the enabling switch (either one of three) on the back of the pendant and on the front at the same time to move the robot back to P0 position. When the screen displays a message saying Programmed path reached (BCO), and turns red, release the enabling switch and .

   Note

   Set an appropriate speed for the robot before moving it, and observe its motion carefully to avoid accidents.

   

6. Switch to AUTO mode as described in step 3, and press on to start running the full-control program ( should turn green).

   

7. The robot can be successfully connected if Mech-Center’s Log panel displays the following messages:

   • Mech-Center: client connected

   • A message showing the client address

   • Mech-Center: client disconnected

   • Mech-Center: waiting for client to connect