Recent Posts

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General Discussion / Re: remote desktop over KLI?
« Last post by singline on February 23, 2021, 10:28:29 AM »
update on the remote desktop situation, it seems like on KSS8.3.33 isn't not possible for the KLI port, but on X47 port it works fine.
It seems like KUKA has implemented a lot of restrictions on the KLI port.

It used to be quite straight forward, but my understanding is KUKA considered it a bug and not a feature, unfortunately, I haven't been able to RDC for sometime.
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General Discussion / Re: remote desktop over KLI?
« Last post by Johannes @ Robots in Architecture on February 22, 2021, 07:21:03 AM »
Thanks for the update, Victor! I haven't used remote desktop for a while as we have got the remote service techpackage, but I will have to give it a try!
Best,
Johannes
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General Discussion / Re: connecting a robot controller to the internet?
« Last post by victorlin on February 20, 2021, 07:23:34 AM »
Hi Johannes,

Thanks for the recommendation about the VPN, I might go that route in the future if I require online connections often.

After a day of googling and testing, I was unable to port forward any connections on KLI.
I've switched over to X47 port, which seems to have much less restrictions, and everything works fine now, just have to be extremely cautious of when I connect the robot online.
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General Discussion / Re: remote desktop over KLI?
« Last post by victorlin on February 20, 2021, 07:18:44 AM »
update on the remote desktop situation, it seems like on KSS8.3.33 isn't not possible for the KLI port, but on X47 port it works fine.
It seems like KUKA has implemented a lot of restrictions on the KLI port.
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Hello Victor,

Some routers offer VPN functionality, so that you can connect from the outside into your local network.
I would recommend that as it's saver than exposing your robot to the net.
The port forwarding should also work, but you may have a router cascade here, i.e. you connected your robot router to another router that connects to the internet? In that case you would need another port forward, I believe, on the router that's directly connected to the net. Also, the accessibility of ports may depend on your ISP as well.
I really like using PacketSender as a tool to troubleshoot such network problems.

Best,
Johannes
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General Discussion / connecting a robot controller to the internet?
« Last post by victorlin on February 19, 2021, 09:50:57 AM »
I'm wondering if it's possible to put the controller on the internet and control it from the internet.
Obviously there are tons of risks involved with this, and I understand those risks.
Risks aside, I have KukaProxyVar (KVR) installed on my controller, and I have the controller connected to a local offline router.
I can communicate with KVR if I connect to that router.

Now I'm thinking, if I connect that router to the internet, and port forward port 7000, I can then communicate with KVR over the internet, I tried it, but it didn't work.

So i'm wondering if anyone has tried something similar?
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Support / Re: Undetected Unreachable Position and Unnecessary Axis Rotation
« Last post by pawelsapiecha on February 19, 2021, 07:14:39 AM »
Thank you very much for the response! I'm very glad that it was fairly easy to solve!
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...and regarding the "KSS01444 Array index inadmissible", it should provide you with a line number so that it's possible to locate the problematic section.

Thanks!
Johannes
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Hello Pawel,

I just looked at your files, some remarks:
Only use one mesh for the robot cell (or use Mesh Join to combine them!), at the moment you generated two robots which really slowed down KUKA|prc.
The problem with A4 is because you are moving through a singularity where A4 and A6 basically share a rotational axis. It's best to solve that by tweaking the position of your object in relation to the robot. In your case, setting the base to 100 in X and 140 in Z (40 was set by you) solves the problem. I've then also set the Initial Posture (next to the start/end position) to "010" and it now looks fine.
Alternatively you could also experiment with the angle of your tool to solve singularities.

Ultimately, I usually recommend against using SPLine movements, as they are splines that are not defined geometrically (e.g. Bezier curves, Akima spline etc.) but calculated by the machine in realtime to achieve a smooth motion through a set of points. A spline may look different depending on which robot you are using. Consider using simple LIN movements instead, they are the most simple and robust movements. Otherwise just be prepared for possible differences between the simulation and actual robot movement.

Hope that helps!
Best,
Johannes
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Support / Re: Undetected Unreachable Position and Unnecessary Axis Rotation
« Last post by pawelsapiecha on February 18, 2021, 03:16:43 AM »
RH + GH FILES
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