Set up Standard Interface Communication with KUKA

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

Check Controller and Software Compatibility

  • 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

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

Connect the Hardware

  • KR C4 Compact: X66 port

    port1

  • Other KR C4 controllers: KLI port

    port2

  • KR C5: XF5 port

    port3

Set the IP Address

  • Switch to the Expert mode:

    1. Click robot icon, and select Configuration  User group to enter the log-on interface.

      change mode

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

    login

  • Set the IP address:

    1. Click robot icon, and select Start-up  Network configuration.

      ip setting1

    2. Input an IP address in the same subnet as that of the IPC. Then click Save. Click Yes and OK, respectively, in the next two pop-up windows.

      ip setting2
    ip setting4

  • Restart the robot controller to finish setting the IP address:

    1. Click robot icon, and select Shutdown to enter the shutdown interface.

      reboot1

    2. Click Reboot control PC in the shutdown interface.

    reboot2

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

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

  2. Select Listed robot from the Select robot drop-down menu. Click Select robot model to select the robot model that you use. Then click Next.

  3. In Communication Option, select Standard Interface for Interface Type, TCP Server and HEX-Little endian for Protocol, and then click Apply.

    configure communication 1

  4. 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.

    configure communication 2

Load the Program Files

Switch to the Expert Mode

Refer to the above subject.

Back up Robot Programs

Make sure you have switched to the expert mode. Otherwise, the flash drive will not show up on the teach pendant.

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

    backup1

  2. Click robot icon, select File  Archive  USB (cabinet)  All, and click Yes in the pop-up window to start the backup process.

    backup2
    backup3
    backup4

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

    backup5

Prepare the Program Files

Navigate to Mech-Center\Robot_Interface\KUKA from the installation directory of Mech-Mind Software Suite, and copy the following files to your flash drive.

  • mm_module.src (program file)

  • mm_module.dat (program file)

  • XML_Kuka_MMIND.xml (network configuration file)

Load the Program Files

  1. Plug the flash drive into the controller. Select the flash drive on the left panel, and locate the above files.

    copy file1

  2. Copy mm_module.src and mm_module.dat and paste them to KRC\R1\mechmind (create one if there is no such a folder). Create a mechmind folder: Click the R1 folder and click New.

    copy file2

    Input mechmind for the folder name, and click OK.

    copy file3

  3. Select mm_module.src and mm_module.dat, click Edit, and then select Copy.

    Long-press and drag to select multiple adjacent files.
    copy file4

  4. Select the mechmind folder, and click Open.

    copy file5

  5. Click Edit. Then select Paste.

    copy file6

  6. Copy and paste XML_Kuka_MMIND.xml to C:/KRC/ROBOTER/Config/User/Common/EthernetKRL following the above steps.

  7. Select XML_Kuka_MMIND.xml, and click Open.

    copy file7

  8. Select line 4 and click pen icon on the left to call out the keyboard. Change the IP address in this line to that of the IPC, and click pen icon again to hide the keyboard. Check line 5 to see if the port number is correct. If not, change it to the IPC’s actual port number following the above step.

    copy file8

  9. After modifying the parameters, click the close button on the left, and click Yes to save changes.

    copy file9

  10. Switch to the Administrator mode following the instructions of Step 2 in IP Address Configuration. Click robot icon and select Shutdown.

    copy file10

  11. Select Cold start, Reload files, and then Reboot control PC.

    copy file11

  12. Click Yes in the pop-up window to restart the robot.

    copy file12

Test Robot Connection

Select the Program and Switch to the AUT Mode

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

change aut

  1. How to switch the mode: Turn the key switch to horizontal, select T1 or AUT in the pop-up dialog box on the screen, and then turn the switch back to vertical.

    change aut1

  2. Switch to the T1 mode following the above step. Click O, and click I in the pop-up window to switch the status of Drives to I. If the status of Drives is I at the start, ignore this step.

    change aut2

  3. Set an appropriate velocity for the robot before moving it, and observe its motion carefully to avoid accidents. Press the enabling switch (either one of three) on the back of the pendant and the green start button 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), release the enabling switch and the green start button.

    change aut3
    change aut4

  4. Switch to the AUT mode as described in the above step, and press the start button to run the program (the R icon should turn green).

    change aut5

  5. If the robot is connected successfully, the Console tab of Mech-Vision Log panel will display a log.

    vision center log

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