KUKA

Open the home screen

Open your cloud instance via the Developer Portal or type in your physical instance's/virtual instance's IP address to access the home screen. Get an overview on the home screen and its functionalities here.

Create a cell in the settings

Open the settings app and go to the "Cell" tab.

Add robot to your cell

If you want to start using the Wandelbots API, do so now and add a robot via the Wandelbots NOVA API.

OR add a robot to your cell in the settings:

• Select the "Robots" tab.
• Click to add a robot to your cell.
  If the button is greyed out, your license might not support adding more robots. Please contact your administrator.
• Select the robot type Virtual.
  Adding a physical robot will only work after successful setup.

• Name the robot
• Select KUKA as manufacturer.
• Select the desired robot model.
• Add the robot to the cell.

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 option packages

In order to use Wandelbots NOVA with KUKA, you need to fulfill specific requirements that include:

• EthernetKRL Interface
• Robot Sensor Interface
• Safety Mirror Service
• Safe Operation package for safety zones, TCP geometries, safety limits of join positions and velocity
  Install a safe operation reference switch if you're using the Safe Operation package.
• KUKA.PROFINET® M/S to use the KUKA controller as PROFINET® Controller or PROFIsafe® Device.

First, install the following two dependencies to enable the correct installation of the custom option packages:

1. EthernetKRL (opens in a new tab) option package.

   Controller	Package version
   KRC5	3.2
   KRC4	2.2

2. RobotSensorInterface (opens in a new tab) option package.

   Controller	Package version
   KRC5	5.0
   KRC4	4.1. or 3.3

The download page of the respective option package lists the supported controller version in the system requirements tab.

Then, using WorkVisual, install the following custom option packages into the <Files> of the robot controller.

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:

Log in

Using the original robot's control panel

1. Open Main menu > Configuration > User group.
2. Select Expert and enter the password.
3. Switch from automatic mode to T1 mode.
4. 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:

   Field	Value
   Interface designation	KLI
   Address type	Fixed IP address
   IP address	172.31.1.147
   Subnet mask	255.255.255.0
   Windows interface	Selected (default)

4. Click on the Add interface button.
5. Enter the following values to configure the RSI interface:

   Field	Value
   Interface designation	RSI
   Address type	Mixed IP address
   IP address	172.31.2.147 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 mask	255.255.255.0
   Windows interface	Not 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

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 can now connect to the robot.

Use KUKA controller on NOVA

1. Open your cloud instance via the Developer Portal or type in your physical instance's/virtual instance's IP address to access the home screen.
2. Open the settings app and go to the "Cell" tab.
3. Select the "Robots" tab.
4. Click to add a robot to your cell.
   If the button is greyed out, your license might not support adding more robots. Please contact your administrator.
5. Select the robot type Physical.
   Adding a physical robot will only work after successful robot commissioning.

6. Name the robot.
7. Select KUKA as the manufacturer.
8. Enter the Host and RSI IP address according to the info field.
   • 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.
9. Click on Add.
10. Set the robot to one of the operating modes: Manual or automatic.

Automatic mode

1. Press the green button on the backside of the original robot control panel 2 times.
2. Ensure the program pointer is below the comment "DO NOT CANCEL THIS PROGRAM IF YOU WANT TO MOVE THE ROBOT WITH WANDELBOTS".
3. Activate the motion group in Robot Pad in the safety bar or via the Wandelbots NOVA API Motion Group endpoint POST /cells/{cell}/motion-groups/all.

Manual mode

1. Press enabling switch on the original robot control panel.
2. Press the green button on the backside of the original robot control panel 2 times.
   This button (or the play button) as well as the enabling switch have to be pressed in order to complete robot movements.
3. Activate the motion group in Robot Pad in the safety bar or via the Wandelbots NOVA API Motion Group endpoint POST /cells/{cell}/motion-groups/all.