25.2
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 4 R600
  • KR 6 700-2
  • KR 6 R700 Sixx
  • KR 6 R900-2
  • KR 10 R900
  • KR 10 R900 2
  • KR 10 R1100
  • KR 10 R1100 2
  • KR 16 R1610-2
  • KR 16 R2010-2
  • KR 20 R1810
  • KR 20 R1810-2
  • KR 25 R2700-2
  • KR 50 R2500
  • KR 150 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.

Prepare the KUKA
Admin

Install KUKA WorkVisual

Download KUKA WorkVisual (opens in a new tab) and install it. Follow the installation and connection instructions provided by the robot manufacturer to connect the robot controller.

Install custom option packages

Using WorkVisual, install the custom option packages in <Files> on the robot controller.

Download Wandelbots 1.1.0.0Download Wandelbots SafetyMirrorService 1.0.0.1.

Get overview on 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 3, thus 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 1, thus 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 2, thus 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. If you can't access the network configuration, a program might be running. Cancel the program and try again.
  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
Admin

  1. Connect an ethernet cable to the IPC's LAN-1 port.
  2. Connect the ethernet cable to the robot controller's X66 port.
  3. Turn on the IPC.

Configure the IPC's network settings

  1. Open https://<ipc-ip-address>:9090, e.g. https://172.345.538.2:9090, in a browser on your personal computer.
    If the IPC is not connected to the same network as your personal computer, you can connect a keyboard, a mouse and a display to the IPC. Then open localhost:9090 in a web browser.

    ⚠️

    Only one personal computer is allowed to connect to the instance's IP address. In case multiple personal computers control a physical robot, e.g. via API and the RobotPad, simultaneously, the robot will not move.

    • Close all applications on other personal computers and try again.
    • Unplug the robot's ethernet cable from the physical instance and wait a couple of minutes to restart Wandelbots NOVA foundation services. Plug it into the LAN port again and try again.

  2. Log in with the user credentials created during the Wandelbots NOVA installation.
    The IPC's settings are displayed.
    A popup prompts you to enable administrative access.

  3. Enable administrative access and enter the admin password.

  4. Select the Network tab in the sidebar.
    The IPC's network settings are displayed.

  5. Toggle the button next to the enp3s0 port (corresponding to the IPC's LAN-1 port) to enable network activity.

  6. Click "edit" next to the IPv4.
    The IPv4 menu opens.

  7. Set the address dropdown to "Manual".

  8. Set the prefix to 255.255.255.0 (will automatically change to 24).

  9. Delete the prefilled gateway value.

  10. 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.

  11. Click on the "+" button to add another IP address.

  12. 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.

  13. Save the settings.

Wandelbots NOVA is successfully connected to the robot.

Congrats! Continue the setup by adding the KUKA robot in the Wandelbots NOVA settings!

Add robot in settings

Troubleshooting

I can't log in or I am not part of the Expert user group

In order to prepare the KUKA for Wandelbots NOVA you need to be part of the Expert user group. If you can't log in, ask a sufficiently qualified user to log in and set up the robot for you.

Find the KUKA's IP address

Using the original robot control panel

  1. Log in with the Expert user group.
  2. Open the main menu.
  3. Go to Main menu > Start-up > Network configuration.
    The network configuration is displayed.
  4. Open Advanced…
    The controller's IP addresses are displayed.
FANUCUR