KUKA robots
Robot drivers provide an alternative to Offline Programming (where a program is generated, then, transferred to the robot and executed). With robot drivers, it is possible to run a simulation directly on the robot (Online Programming). More information available in theRobot Driverssection.
You can establish a connection between RoboDK and your KUKA controller to move the robot automatically from your computer. This allows using the RoboDKRun on robotoption for online programming and debugging. The connection can be established through a standard Ethernet connection (TCP/IP).
If you don’t use a recent version of the RoboDK you may be using the legacy driver (apikuka, based on the KUKAVARPROXY project). To use the current driver, make sure that thekukabridgedriver is selected in theMore optionssection of theConnection to Robotwindow.
Follow these steps to set up the RoboDK driver for KUKA:
1.Get theC3 Bridge installerfile (c3setup executable) from thedriver sectionor by contacting us.
2.Using the KUKA HMI, copy thec3setup.exeinstaller file to the desktop of your controller or a folder of the control system.
3.Connect a mouse (optional, but strongly recommended).
It is possible to plug USB devices to the teach pendant or the controller (reboot is not required).
Alternatively, it is possible to establish a remote desktop connection.
These steps can also be accomplished using the teach pendant’s touch screen and the virtual keyboard.
4.Using the KUKA HMI application it is possible to open the main menu using the KUKA button
, at the top left of the screen:
a.KUKA➔Configuration➔User group➔chooseExpert(password:kuka)
b.KUKA➔Start-up➔Service➔Minimize HMI(the windows screen will appear)
5.Locate the previously copiedc3setup-1.6.1.exefile and run it. Follow the instructions of the installer.
6.Allow port7000(or another port if port7000is busy, see note below)for TCP/UDP communication (this step is not required on KUKA KRC2 controllers):
a.Restore the HMI.
b.KUKA➔Start-up➔Network configuration➔Advanced
c.NAT➔Add port➔Port number7000
d.Set permitted protocols:tcp/udp
7.LaunchtheC3 Bridge Serverfrom the desktop shortcut or the Start Menu item (you can skip this step in case you selectedRun C3 Bridge Serverat the last installation step).
8.To start C3 Bridge Server automatically at system startup, copy the application shortcut from the desktop to the Startup folder of the StartMenu.
The C3 Bridge Server is now ready. You can leave this program running. This server allows you to exchange global variable values between the KUKA control system and the remote PC, download and upload KRL programs, control the execution of KRL programs, and more.
Further configuration of the control system can be done in two ways: automatically using the interactive mode of thekukabridgedriver (KRC4 only) and manually by editing the robot control system files in KUKA HMI. Let's take a look at both approaches.
The scriptKUKA_Auto_Configuration.pyin the folderC:\RoboDK\Library\Scriptscan be used to perform automatic configuration of the KUKA control system. In that case, the current RoboDK station must contain at least one KUKA robot with the correct IP address and port in theConnection to Robotwindow. The script can be called from the menuTools➔Run Scriptor by theShift+Shotkey.
Prerequisites:RoboDK version 5.5.2 or higher, Windows operating system, installation pathC:\RoboDK.
1.Open command shell withSTART➔All programs➔Accessories➔Command Prompt
orSTART➔Run➔cmd.
2.Change directory toC:\RoboDK\binand launchkukabridge.exeby executing following commands:
c:
cd C:\RoboDK\bin
..\api\Robot\kukabridge.exe
3.现在库卡桥驱动程序运行在互动ode.
4.Establish a connection to the control system by enteringCONNECT
CONNECT 172.1.1.10 7000 6
5.If successful, you will see the following output:
SMS:Connecting
Connected
SMS:Working...
SMS:Ready
6.Request current robot joint position by typing theCJNTcommand:
CJNT
SMS:Working...
JNTS 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000
SMS:Ready
7.Perform automatic configuration with theCONFIGURE FORCEcommand:
CONFIGURE FORCE
SMS:Working...
Requesting robot program state
Current robot program state is #P_FREE
Reading current configuration ($config.dat)
Read complete, updating configuration
Adding definition of variable COM_ACTION
Adding definition of variable COM_ACTCNT
Adding definition of variable COM_ROUNDM
Adding definition of variable COM_VALUE1
Adding definition of variable COM_VALUE2
Adding definition of variable COM_VALUE3
Adding definition of variable COM_VALUE4
Adding definition of variable COM_E6AXIS
Adding definition of variable COM_FRAME
Adding definition of variable COM_POS
Adding definition of variable COM_E6POS
Configuration lines have been updated: 11 added, 0 removed, 0 updated, 659 total
Checking existence of old backup file ($config.bak)
Old backup file exists, deleting it
创建新的备份文件(config.bak美元)
Backup completed, writing new configuration
New configuration was successfully written
Checking existence of program file (RoboDKsync543.src)
Program file does not exists
Writing program file to robot system
Configuration is complete
SMS:Ready
8.Now your robot is ready to work, all you have to do isselect and run the programRoboDKsync543.src.
The next steps are to manually set up the main program that will handle the robot movements:
1.Add the declaration of the following global variables:
To do so, locate and modify the file “KRC:\R1\SYSTEM\$CONFIG.DAT” via KUKA HMI. The folder “KRC:\R1\” can also be accessed from theC:\drive at the following Windows path: “C:\KRC\ROBOTER\KRC\”.
INT COM_ACTION=0
INT COM_ACTCNT=0
REAL COM_ROUNDM=0
REAL COM_VALUE1=0
REAL COM_VALUE2=0
REAL COM_VALUE3=0
REAL COM_VALUE4=0
DECL E6AXIS COM_E6AXIS
DECL FRAME COM_FRAME
DECL POS COM_POS
DECL E6POS COM_E6POS
2.Copy the KUKA SRC programRoboDKsyncVER.srcto the folderKRC\R1\PROGRAM. TheVERsuffix in the file name denotes the version of the program (for example,RoboDKsync543.src).
3.Manually start theRoboDKsyncVER.srcprogram to make the robot listen for commands coming from the computer.
If theRoboDKsyncVER.srcprogram is not running, RoboDK will still be able to read the robot joints if the C3 Bridge Server is running in the robot controller.