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.
Video: KUKA Robot Standard Interface Communication Configuration

Preparation

Check Controller and Software Compatibility

  • Make sure that the robot is a 6-axis KUKA robot.

  • Make sure the controller model is KR C4.

  • Make sure that the controller system software version is KSS 8.2, 8.3, 8.5 or 8.6.

    Click here for instructions
    1. Click 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

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

    krl version

All teach pendant actions in this document 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: Plug one end of the Ethernet cable into the IPC’s network port and the other end into the robot controller’s X66 port.

    port1
  • Other KR C4 models: Plug one end of the Ethernet cable into the IPC’s network port and the other end into the robot controller’s KLI port.

    port2

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 then click Log on.

    login

Set IP Addresses

  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
  3. In the IPC, set the IP address of the IPC.

    To allow communication between the IPC and the robot controller, the IP addresses of the IPC and robot controller must reside in the same subnet. This means that the network portions and subnet masks of the IP addresses should be the same. For example, 192.168.100.169/255.255.255.0 and 192.168.100.170/255.255.255.0 are in the same subnet.

Restart the Robot Controller

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

    reboot1
  2. Click Reboot control PC in the shutdown interface.

    reboot2

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. Click robot icon, select File  Archive  USB (cabinet)  All, and click 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

Set up Robot Communication Configuration

  1. Open 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 section, 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. Under Robot integration, click Open program folder.

      The files needed for subsequent loading will be copied from this folder. Do not close this folder.
    5. (Optional) Select Auto enable interface service when opening the solution.

    6. Click Apply.

tcp hex little endian
  1. 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

Prepare Program Files

  1. Plug the flash drive into the USB port of the IPC.

  2. In the IPC, in the opened program folder (KUKA folder), navigate back to the upper-level Robot_Interface directory, copy the entire KUKA folder to the flash drive, and then unplug the flash drive.

    You can also find the program folder in the Communication Component/Robot_Interface/KUKA path in the installation directory of Mech-Vision and Mech-Viz.

    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)

    • sample (the folder for storing example program files)

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.

      Click KRC:\, click R1 folder, and then click New.

      copy file2

      Enter mm as the folder name in the pop-up window and click 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, click Edit, and then click Copy.

      Long-press and drag to select multiple adjacent files.
      copy file4
    3. Select the mm folder from the KRC:\R1 directory and click 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 click Open.

    copy file7
  5. 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. 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, click the close button on the left. In the pop-up window, click Yes to save the modification.

    copy file9
  7. Follow the instructions in switching to the Expert mode to switch to the Administrator mode. Click 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, click 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 click 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. Click O. In the pop-up window, click I to set Drives to I. If Drives is already set to I, skip this step.

    change aut2
  3. Select run mode icon and set Program run mode to Go.

    change aut5
  4. 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.

    change aut3
    change aut4
  5. 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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