KUKA

There is a free editor called OrangeEdit which can make writing KRL code a bit easier.

KR C2

Accessing windows: CTRL+ESC
Turning it off: If the batteries are good, pull the switch down. Can change options for whether it will hibernate, cold shutdown, or warm shutdown
Backing up:
- Put in a USB DRIVE
- Go into Windows (CTRL+ESC)
- run and configure via: C:\KRC\UTIL\KRCCONFIGURATOR\KrcConfigurator.exe
- As an expert, file->archive->all

RSI (Specifically RSI RSI 2.3.3)

Setup (incomplete)

This will help you setup and run the KUKA provided RSI example for Ethernet control. You will need a PC running Windows (preferably 7. You can find the KUKA RSI examples as well as RSI visual in: D:\KUKA_OPT\RSI on your KRC2 controller (after you have installed RSI). Specifically, we will be working with the example at D:\KUKA_OPT\RSI\DOC\Examples\Ethernet

Logon as an expert user
Press ctrl+esc to access windows
Press My Computer
Copy D:\KUKA_OPT\RSI\DOC\Example\RealtimeEthernet\Server_app\ServerApplication.exe to the external windows machine via USB
Copy RSIEthernet.dat and RSIEthernet.src from D:\KUKA_OPT\RSI\DOC\Example\RealtimeEthernet\SRC_KRL\PROGRAM to the main programs folder
Copy ?.xml
Modify vx win to say: [Boot] Bootline=elPci(0,1)pc:vxworks h=192.0.1.2 b=192.0.1.1 e=172.0.1.1 u=target pw=vxworks

TODO: Finish this up

KR C4

Important commands:

View Windows : RobotKey->Startup->Service->Minimize HMI
Change Logout time

RSI (Specifically RSI 32)

Setup

This will help you setup and run the KUKA provided RSI example for Ethernet control. You will need a PC running modern Windows. You can find the KUKA RSI examples as well as RSI visual in: D:\KUKA_OPT\RSI on your KRC4 controller (after you have installed RSI). Specifically, we will be working with the example at D:\KUKA_OPT\RSI\DOC\Examples\Ethernet

Connect NIC on PC to KLI port in controller via CAT 5 cable
Copy files from D:\KUKA_OPT\RSI\DOC\Examples\Ethernet\Config to C:\KRC\Roboter\Config\user\common\SensorInterface
Modify the RSI_EthernetConfig.xml file to have the IP_NUMBER set to 10.100.1.2
Enter Expert Mode
Add a new virtual adapter for windows if one does not already exist (This will be the KLI adapter) This can be done manually:
1. RobotButton -> Startup -> Network Configuration
2. The first page should say: Fixed IP Address, 172.31.1.147, 255.255.255.0, 172.31.1.47
3. Click Advanced
4. Select the adapter for the 172.31.1.147 adapter and click windows interface
5. Click Add interface
6. Change the new interface to be named RSI
7. Set the address type to real-time IP address
8. Set the IP address to 10.100.1.1
9. Set the subnet mask to 255.255.255.0
10. Click User-defined filters
11. Add a filter set to type IP protocol, address: 10.100.1.1, subnet: 255.255.255.0, parameters: 17
This can also be done automatically:
1. Minimize the HMI (startup->service->minimize HMI)
2. Click the windows button -> all programs -> RSI-Network
3. Under RSI Ethernet, select New then click Edit
4. Type in 10.100.1.1
5. Check to see that everything got setup properly per the manual instructions
On the PC, set the IP address to 10.100.1.2, subnet to 255.255.255.0, Default gateway to 10.100.1.1, turn of DHCP
Copy the RSI_Ethernet.src file from D:\KUKA_OPT\RSI\DOC\Examples\Ethernet\ to the KRC4 programs folder.
Alter the home points in the RSI_Ethernet.src file to be appropriate for your setup.
Copy the D:\KUKA_OPT\RSI\DOC\Examples\Ethernet\Server.exe file to your computer.
Run the Server.exe file, and press the play button
Place the robot into automatic mode
Run the RSI_Ethernet.src file on the KRC4

If you have problems, there is some debugging you can do:

Try pinging in both directions
- From your PC: windowskey+R, cmd.exe->enter, ping 10.100.1.1->enter
- From KRC4:
  1. Minimize HMI
  2. Press windows button
  3. Select All Programs
  4. Select Accessories
  5. Select cmd
  6. Type ping 10.100.1.2->enter
Try disabling the firewall on your PC
Check the Network Configuration page on the KRC4 for accuracy

Just some info

Always uses UDP
Configured via XML files (should use RSI visual as an abstraction to a GUI)
- .rsi
- .rsi.diagram
- .rsi.xml
Order of packets is very Important
The RSI Context can do a lot of different types of signal processing
- Setup via RSI visual
Ethernet Object
- 64 I/O points
- Configured via XML file (pg 43)
  - Referenced by Ethernet Object in RSI visual
  - Keywords:
    - DEF_RIst
      - Cartesian actual position
    - DEF_RSol
      - Cartesian setpoint
    - DEF_Delay
      - Number of late data packets
    - additional on pg 47-48
    - DEF_EStr
      - Allows writing of error and notifications on the controller
      - xxx</Estr>
        
        Writes a notification
      - Error:xxx
        
        Acknowledgement message
        
        Will stop the robot
      - No message/error
- Server (computer) must respond to client (KR C4) within either 4 or 12 ms depending on whether using slow or fast mode.
Can perform corrections on movements within a program. When in IPO mode, this only works on lin and circ moves.
Can do motion control from external system (still called a correction)
- Can be absolute (takes pose at RSI_ON as <0…0>)
- Can be relative (from current position)
- RSI_MOVECORR()
Safety
- Software limits will work (per manual pg 21)
- There are limits on MAX corrections
  - These can easily get in the way though
Global Variables
- RSIERRMSG
  - True: RSI Errors are displayed on the TP
  - False: No messages, errors must be handled by the KRL program
RSITECHIDX
- Defines which function generator RSI will use
RSI monitor
- Can be used to visualize, monitor, and record signals across RSI Interface
- Display->RSI monitor
Logging
- C:\KRC\Roboter\config\user\common\Logging-RSI.xml
  - <class Name = "RSILogger | LogLevel=[<error>|<info>]"
One liner guide on pg 69

What do you need to use RSI:

Robot Sensor Interface on KRC4
An external windows PC with RSI visual for setup (can use linux et al for actual running).