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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:

View file
nameRTR-KRC-Files-2.2.zip

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

  1. 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.

...

  1. Menu for changing the Operation Mode. T1 Mode should be selected if the controller needs to be reconfigured.Image Added

  2. 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 is kuka.

...

  1. Image Added

  2. Open the settings menu by clicking the bottom-right most physical button on the TP

    1. Go to Start-up

    2. Under the Start-up menu select Network Configuration

    3. Click Advanced

  3. Click Add Interface on the bottom row

...

  1. Image Added

    1. Set the Interface Designation to RSI or another desired name.

    2. Select Mixed IP Address for the Address Type

    3. Set the desired IP address and Subnet Mask.

    4. Under Real-time Receiving Task, set the Reception Filter to UDP

    5. 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_NUMBERto 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

RTR_RSI

...

.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 section

  • Set the Realtime Controller IP Address or Hostname to the IP address of the RTR controller. This should match the address set in RSI_EthernetConfig.xml and RSI_EthernetConfigMonitor.xml

  • Set the RSI Port to the port number configured in RSI_EthernetConfig.xml and RSI_EthernetConfigMonitor.xml

Usage Instructions

Ensure that the KUKA controller is in AUTO mode.

Info

Ensure that the KLI Port is used for the connection. Otherwise RTR won’t be able to connect to the robot successfully.

As a test please run “ping robot_ip_address” on the RTR Controller to test the connectivity. If you get any responses it means, the connection setup is ready to connect.

  • Select the RTR_RSI

...

  • .src program

  • Load the project on the Control Panel.

  • Press Connect or EnterOperationMode on the control panel.

  • It is normal to not see any changes on robot pendant 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.