KUKA robots are controlled with the RobotSensorInterface (RSI) 4.0 option package. Ensure that the RSI package is installed on the controller before use with the RTR controller.
Notes
Download the Realtime Robotics KUKA programs for setup here:
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KUKA Controller Network Configuration
There are some network settings that must be applied on the KUKA robot controller before the robot can be controlled by the RTR controller.
Setting up the RSI Network Interface
Make sure that the controller is in T1 mode. Rotate the key at the top of the Teach Pendant (TP) clockwise to access the menu. Rotate the key back to the top position when done.
Elevated user permissions are required to modify the network settings. Click the User icon (the mouse is hovering over it) to access the list of users. The default password for the
Administrator
user iskuka
.
Open the settings menu by clicking the bottom-right most physical button on the TP
Go to Start-up
Under the Start-up menu select Network Configuration
Click Advanced
Click Add Interface on the bottom row
Set the Interface Designation to
RSI
or another desired name.Select
Mixed IP Address
for the Address TypeSet the desired IP address and Subnet Mask.
Under Real-time Receiving Task, set the Reception Filter to
UDP
Under Receiving Task, set the Reception Filter to
Target subnet
RSI Configuration Files
From the list of provided files (link on top of the page), RSI_EthernetConfig.xml
and RSI_EthernetConfigMonitor.xml
need to be configured before use. Open both files and change the IP_NUMBER
to match the IP address of the RTR Controller. Modify the PORT
number in both files if necessary.
Once all the files have been properly configured, They will need to be copied onto the KUKA controller. The recommended way to copy files onto the KUKA controller is with a flash drive.
File | Controller Destination Folder |
---|---|
RSI_Ethernet.src | KRC:\R1\Program |
RSI_Ethernet.rsix | C:\KRC\ROBOTER\Config\User\Common\SensorInterface |
RSI_EthernetConfig.xml | C:\KRC\ROBOTER\Config\User\Common\SensorInterface |
RSI_Ethernet_Monitor.rsix | C:\KRC\ROBOTER\Config\User\Common\SensorInterface |
RSI_EthernetConfigMonitor.xml | C:\KRC\ROBOTER\Config\User\Common\SensorInterface |
RTR Controller Configuration
Set the
Robot IP Address or Hostname
to the address used in the KUKA Controller Network Configuration sectionSet the
Realtime Controller IP Address or Hostname
to the IP address of the RTR controller. This should match the address set inRSI_EthernetConfig.xml
andRSI_EthernetConfigMonitor.xml
Set the
RSI Port
to the port number configured inRSI_EthernetConfig.xml
andRSI_EthernetConfigMonitor.xml
Usage Instructions
Ensure that the KUKA controller is in AUTO mode.
Select the
RSI_Ethernet.src
programLoad the project on the Control Panel. It is normal to not see any changes on screen. The RTR Controller is waiting for the user to start the program.
Press the Play button three times on the Teach Pendant to run the program. If successful, the screen should change and the project will successfully load.