KRC5 General Notes¶

Warnning

Don't change any code in the controller driver unless it's required and mentioned below.
The drag and bot GmbH is not liable for any damage or accident caused by any misuse or driver modifications.

Required KUKA Packages¶

The KUKA.EthernetKRL V3.2.4 software package must installed in the robot controller. This package has an extra cost so that it has to be bought from KUKA robot manufacturer. Please follow the installation instructions received within the software package. The drag&bot software is only tested with version 3.2.4.

Ethernet Connection¶

The Ethernet cable should be connected to the KUKA Controller Ethernet port labelled XF5.

Ports Numbers¶

By default, the controller driver use the TCP/IP ports numbers 54601 and 54602. If you need to use different ports then please change the ports numbers in the files dnb_client_recv.xml and dnb_client_send.xml of the controller driver.
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Digital IOs¶

By default, the controller driver use 31-bit masks for the controller digital inputs and outputs.
The DO 31-bit mask is configured to cover outputs 33 to 63. The DOs range can be changed under the variable GLOBAL SIGNAL DO_MASK_0 $OUT[33] TO $OUT[63] located in the dnb_sps_send.dat file.
The DI 31-bit mask is configured to cover inputs 33 to 63. The DIs range can be changed under the variable GLOBAL SIGNAL DI_MASK_0 $OUT[33] TO $OUT[63] located in the dnb_sps_send.dat file.

Controller reserved signals / variables¶

Reserved Flags¶

Below flags are used in the controller driver and should not be used by the user.

Flag 1
Flag 2
Flag 998
Flag 999

Reserved Interrupts¶

Below interrupts are used in the controller driver and should not be used by the user.

INTERRUPT 3
INTERRUPT 14
INTERRUPT 15
INTERRUPT 16
INTERRUPT 17
INTERRUPT 91
INTERRUPT 95
INTERRUPT 96
INTERRUPT 97
INTERRUPT 98
INTERRUPT 99

Reserved Timers¶

Below timers are used in the controller driver and should not be used by the user.

timer[1]
timer[2]