25.1.1
Connect physical robot
KUKA

Connect KUKA to Wandelbots NOVA

⚠️ caution

Danger in case of insufficient qualification of users
People can be injured if unqualified user groups set up the physical robot environment.

  • Only qualified user groups designated by the operating company may set up the physical robot environment.
  • Keep unqualified user groups away from the area of risk.

Remember to read through the provided safety instructions before you start connecting a physical robot to Wandelbots NOVA. If you have remaining questions, contact Wandelbots GmbH Customer Support.

Supported models

The setup instructions are valid only for the following controllers:

KRC4, KRC5 and KRC5 micro controller

  • KR 6 700-2
  • KR 6 R700 Sixx
  • KR 6 R900-2
  • KR 16 R1610-2
  • KR 16 R2010-2
  • KR 20 R1810-2
  • KR 210 R2700-2
  • KR 210 R3100-2
  • KR 210 R3300-2K

Setup instructions

Wandelbots NOVA only supports KUKA controllers with software version KSS8.3.18 or higher.

Install KUKA WorkVisual

Download the robot manufacturer's software here (opens in a new tab). Follow the installation and connection instructions provided by the robot manufacturer to connect the robot controller.

Install custom option packages

Download Wandelbots 1.0.1.1Download Wandelbots SafetyMirrorService 1.0.0.1.

Required IP addresses

During the setup of the KUKA robot controller, a variety of IP addresses are required. To facilitate understanding who defines the IP addresses and for what they are used, the following table provides an overview:

IP addressValueDefined by
KUKA KLI IP addresse.g. 172.31.1.147, notice that the subnet is 1. This IP address is assigned to the controller to access it within the company's network.the operating company
KUKA RSI IP addresse.g. 172.31.2.147, notice that the subnet is 2, thus different than the KLI subnet. This IP address is used to communicate with the IPC.user during KUKA setup
IPC in company networke.g. 172.160.3.55, notice that the subnet is different than the KLI and RSI subnets. This IP address is used to access the IPC in the company's network.during Wandelbots NOVA installation
IPC's KLI IP addresse.g. 172.31.1.55, notice that the subnet is the same as the KUKA KLI subnet. This IP address is used by the IPC to establish communication to the robot controller.user during KUKA setup
IPC's RSI IP addresse.g. 172.31.2.55, notice that the subnet is the same as the KUKA RSI subnet. This IP address is used by the IPC to establish communication with the robot controller.user during KUKA setup

Log in

Using the original robot's control panel

  1. Open Main menu > Configuration > User group.
  2. Select Expert and enter the password.
  3. Click Log on.

Add required network interfaces

  1. Open Main menu > Start-up > Network configuration. The network configuration is displayed.
  2. Click on the Advanced… button.
  3. Enter the following values to configure the KLI interface:
    FieldValue
    Interface designationKLI
    Address typeFixed IP address
    IP address172.31.1.147
    Subnet mask255.255.255.0
    Windows interfaceSelected (default)
  4. Click on the Add interface button.
  5. Enter the following values to configure the RSI interface:
    FieldValue
    Interface designationRSI
    Address typeMixed IP address
    IP address172.31.2.147 This IP address can be any valid IP address that you can think of. It can't be in the same subnet as the KLI address.
    Subnet mask255.255.255.0
    Windows interfaceNot selected
  6. Click on Save.
    A popup is displayed.
  7. Confirm the changes to add both interfaces.

Restart the robot controller

  1. Open Main menu > Shutdown.
  2. In section Settings for next shutdown, select the options Force cold start and Reload files.
  3. In section Shutdown actions, click on the Reboot control PC button.
    A popup is displayed.
  4. Confirm the reboot of the controller to apply the network changes.

Connect IPC to the robot controller

  1. Connect an ethernet cable to the IPC's LAN-1 port.
  2. Connect the ethernet cable to the robot controller's XF5 port.
  3. Turn on the IPC.
  4. Access the IPC's configuration interface by entering the IP address followed by :9090 in a web browser: <IPC's IP address>:9090, e.g. 172.160.3.55:9090.
  5. In the IPC network configuration, add the IPC's KLI and RSI IP addresses to the LAN-1 port.
    • Create an IP address that will be used as IPC KLI IP address. It has to be in the same subnet as the KUKA's KLI IP address, e.g. 172.31.1.55.
    • Create an IP address that will be used as IPC RSI IP address. It has to be in the same subnet as the KUKA's RSI IP address, e.g. 172.31.2.55.

The robot controller was successfully set up for Wandelbots NOVA.

Usage

It's time to create a virtual cell on Wandelbots NOVA and add your physical robot to it!

When prompted to enter the IP addresses in the Wandelbots NOVA settings to connect the physical robot:

  • In the Host field, use the KLI IP address of the controller entered in the KLI interface.
  • In the RSI IP address field, use the RSI IP address of the IPC entered in RSI IP address.
FANUCUR