Set up Standard Interface Communication with KUKA

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This guide shows how to load the Standard Interface program files to a KUKA robot, and set up the Standard Interface communication between Mech-Mind Vision System and the robot.

In this section, you will load the Standard Interface program and the configuration files to the robot system to establish the Standard Interface communication between the vision system and the robot.

Preparation

Check Controller and Software Compatibility

  • Robot: 6-axis KUKA robot

  • Controller model: KUKA KR C4

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

    Click here for instructions

    1. Select robot icon, and select Help  Info.

      kss version 1

    2. Check the controller system software version in the Info interface.

      kss version 2

  • 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
    Click here for instructions

    Select Options in the Info interface to view the Ethernet KRL version.

    krl version

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

Switch to the Expert Mode

  1. Select 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 then select Log on.

    login

Set the IP Address

  1. Select 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, select Save. Select Yes and OK, respectively, in the next two pop-up windows.

    ip setting2
    ip setting4

Restart the Robot Controller

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

    reboot1

  2. Select Reboot control PC in the Shutdown interface.

    reboot2

Set up Robot Communication Configuration

  1. Run Mech-Vision, and you may enter different interfaces. Create a new solution according to the instructions below.

    • If you have entered the Welcome interface, click New blank solution.

    create solution 1

    • If you have entered the main interface, click File  New Solution on the menu bar.

    create solution 2

  2. Click Robot Communication Configuration on the toolbar of Mech-Vision.

  3. In the Robot Communication Configuration window, complete the following configurations.

    1. Click the Select robot drop-down menu, and select Listed robot. Click Select robot model, and select the robot model that you use. Then, click Next.

    2. In the Communication mode area, select Standard Interface for Interface service type, TCP Server for Protocol, and HEX (little-endian) for the protocol format.

    3. It is recommended to set the port number to 50000 or above. Ensure that the port number is not occupied by another program.

    4. (Optional) Select Auto enable interface service when opening the solution.

    5. Click Apply.

      tcp hex little endian

  4. On the main interface of Mech-Vision, make sure that the Robot Communication Configuration switch on the toolbar is flipped and has turned blue.

    interface service

Back up the Robot Program

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 that stores the backup file into the controller, and make sure that the flash drive shows up on the teach pendant.

    backup1

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

    backup2
    backup3
    backup4

  3. If the following information is displayed on the teach pendant, the backup is complete. A ZIP file is saved to the flash drive. Unplug the flash drive.

    backup5

Prepare Program Files

Navigate to Mech-Center\Robot_Interface from the installation directory of Mech-Vision & Mech-Viz, and copy the following KUKA folder to your flash drive.

The KUKA folder contains the following files:

  • mm_module.src (program file)

  • mm_module.dat (program file)

  • XML_Kuka_MMIND.xml (network configuration file)

  • MM_COMTEST.src (program file for testing communication)

  • MM_COMTEST.dat (program file for testing communication)

Load the Program Files

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 into the controller, select the flash drive on the left panel, and then locate the preceding folder.

    copy file1

  2. Copy mm_module.src, mm_module.dat, MM_COMTEST.src, and MM_COMTEST.dat to the KRC:\R1\mm directory. If the mm folder does not exist, create the folder.

    1. Create a mm folder.

      Select KRC:\, select R1 folder, and then select New.

      copy file2

      Enter mm as the folder name in the pop-up window and select OK to create the mm folder.

      copy file3

    2. Select mm_module.src, mm_module.dat, MM_COMTEST.src, and MM_COMTEST.dat from the KUKA folder of the flash drive, select Edit, and then select Copy.

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

    3. Select the mm folder from the KRC:\R1 directory and select Open.

      copy file5

    4. Select Edit  Paste to paste the selected files.

    copy file6

  3. Follow the preceding steps to copy and paste XML_Kuka_MMIND.xml to C:\KRC\ROBOTER\Config\User\Common\EthernetKRL.

  4. Select XML_Kuka_MMIND.xml from C:\KRC\ROBOTER\Config\User\Common\EthernetKRL and select Open.

    copy file7

  5. Select line 4 and select pen icon on the left to call out the keyboard. Change the IP address in this line to that of the IPC, and select pen icon again to hide the keyboard. The port number in line 5 must be the same as the port number of the host PC that is specified in Mech-Vision. To change the port number, repeat the preceding steps.

    copy file8

  6. After the modification is complete, select the close button on the left. In the pop-up window, select Yes to save the modification.

    copy file9

  7. Follow the instructions in switching to the Expert mode to switch to the Administrator mode. Select robot icon. In the pop-up menu, select Shutdown to enter the Shutdown interface.

    copy file10

  8. Select Cold start, Reload files, and Reboot control PC.

    copy file11

  9. In the pop-up window, select Yes to restart the robot.

    copy file12

Test Standard Interface Communication

Select the Program to Test Communication

  1. Follow the instructions in switching to the Expert mode to switch to the Administrator mode.

  2. Open the KRC:\R1\mm folder, select MM_COMTEST.src, and then select Select.

    change aut

Run the Program to Test Communication

Before you start, we recommend that you see the following instructions to learn how to switch between running modes.

Turn the key switch to horizontal, select the running mode (such as T1 or AUT) in the pop-up dialog box, and then turn the switch back to vertical.

T1 stands for the Manual Reduced Velocity mode, and AUT stands for the Automatic mode.
change aut1

  1. Follow the preceding instructions to switch to the T1 mode.

  2. Select O. In the pop-up window, select I to set Drives to I. If Drives is already set to I, skip this step.

    change aut2

  3. Press the white enabling switch halfway in and press the green start button to run the program. When R turns green, the program is running. After the program is run, MM:Init Connection ok is displayed. In this case, release the enabling switch and start button.

    change aut3
    change aut4

  4. If the communication between the robot and the vision system is set up, a log will be recorded on the Console tab of the Log panel of Mech-Vision.

    vision center log

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