Set up Standard Interface Communication with KUKA

This topic introduces the process of setting up the Standard Interface communication with a KUKA robot.

The process consists of the following steps:

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, C5

  • Controller system software version: KSS 8.2, 8.3, 8.5 or 8.6

  • Add-on software package: Ethernet KRL (V 2.2.8, 3.0.3 or 3.1.2.29)

    The correspondence between KSS and Ethernet KRL versions is as follows:

    KSS version

    Ethernet KRL version

    8.2 or 8.3

    2.2.8

    8.5

    3.0.3

    8.6

    3.1.2.29

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.

Set up the Network Connection

Hardware Connection

Plug the Ethernet cable into:

  • An Ethernet port on the IPC

  • The corresponding port on the controller:

    • KR C4 Compact: X66 port

    • Other KR C4 controllers: KLI port

    • KR C5: XF5 port

    ../../../../_images/port11.png
    ../../../../_images/port21.png
    ../../../../_images/port31.png

IP Address Configuration

To allow communication between the IPC and the robot controller, the IP addresses of the two must be 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 robot_icon, and then select Configuration ‣ User group.

      ../../../../_images/user_group_11.png

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

      ../../../../_images/user_group_21.png

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

    ../../../../_images/user_group_31.png

  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.

    ../../../../_images/user_group_41.png
    ../../../../_images/user_group_51.png

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

    1. Press on robot_icon, and select Shutdown.

      ../../../../_images/user_group_61.png

    2. Press on Reboot control PC.

      ../../../../_images/user_group_71.png

Set up “Robot and Interface Configuration” in Mech-Vision

  1. Click Robot and Interface Configuration on the toolbar of Mech-Vision.

  2. Select Listed robot from the Select robot drop-down menu, and then click Select robot model.

  3. Select the robot model that you use, and then click Next.

  4. Select the following options and click Apply.

    • Interface Type: Standard Interface

    • Protocol: TCP Server and HEX-Little endian

  5. Make sure the Interface Service is started: on the toolbar of Mech-Vision, the Interface Service switch on the far right is flipped and turned to blue.

Load the Program Files

Attention

Before operating the robot, please follow the backup instructions below to back up the system.

Back up Robot Programs

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 for storing the backup file to the controller, and make sure that the flash drive shows up on the teach pendant.

    ../../../../_images/backup_12.png

  2. Press on robot_icon, and then select File ‣ Archive ‣ USB (cabinet).

    ../../../../_images/backup_22.png

  3. After selecting USB (cabinet), select All in the last column.

    ../../../../_images/backup_32.png

  4. Press on Yes in the pop-up window to start the backup process.

    ../../../../_images/backup_41.png

  5. The following message is displayed when the backup is in process. Once the backup is completed, this message disappears, and a ZIP file is created in the flash drive.

    ../../../../_images/backup_51.png

Prepare the Files

The program files are stored in the installation directory of Mech-Mind Software Suite.

Navigate to xxx\Mech-Mind Software Suite-x.x.x\Mech-Center\Robot_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 into 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.

    ../../../../_images/load_the_files_11.png

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

    ../../../../_images/load_the_files_21.png

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

    ../../../../_images/load_the_files_31.png

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

    ../../../../_images/load_the_files_41.png

  7. Press on Edit, and then select Paste.

    ../../../../_images/load_the_files_51.png

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

    ../../../../_images/load_the_files_6.png

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

    ../../../../_images/load_the_files_7.png

Modify IP Address in XML file

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

    ../../../../_images/load_the_files_8.png

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

    ../../../../_images/load_the_files_9.png

  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 close_icon and then Yes to save the changes.

    ../../../../_images/load_the_files_10.png

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 robot_icon, and select Shutdown.

    ../../../../_images/load_the_files_111.png

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

    ../../../../_images/load_the_files_12.png

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

    ../../../../_images/load_the_files_13.png

Test Robot Connection

Test the connection by running the Standard Interface program and check if relevant messages are displayed in Mech-Vision’s log.

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

    ../../../../_images/test_robot_connection_32.png

  2. The following should appear on the screen.

    ../../../../_images/test_robot_connection_42.png

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

    ../../../../_images/test_robot_connection_51.png

  4. Check the icon to the right of s_icon:

    • If it looks like i_icon, then skip this step.

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

    ../../../../_images/test_robot_connection_61.png

  5. Press on the enabling switch (either one of three) on the back of the pendant and start_icon 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 r_icon_yellow turns red, release the enabling switch and start_icon.

    Note

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

    ../../../../_images/test_robot_connection_71.png

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

    ../../../../_images/test_robot_connection_81.png

  7. The robot can be connected successfully if the Console tab of Mech-Vision Log panel displays messages indicating that the client is connected.