TCP Speed transfer | Autotek

Sending TCP Speed in UDP with RSI

TCP Speed transfer at Autotek| Tobias Riederle & Oswaldo Cortero | 10-27-2023| www.kuka.com Seite: 1

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Structure
1. Techpackage: KUKA.RobotSensorInterface
2. Configuration Files
3. How to implement
4. Additional comment

TCP Speed transfer at Autotek| Tobias Riederle & Oswaldo Cortero | 10-27-2023| www.kuka.com Seite: 2

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1. Technology: KUKA.RobotSensorInterface

KUKA.RobotSensorInterface 5.0 (compatible with KSS 8.7)

Article No.: 346317
KUKA.RobotSensorInterface 5.0 is an option package which can
be used to implement sensor applications that require real-time
processing of sensor data.
Programming of the signal processing is carried out in
WorkVisual using the graphical editor RSIVisual. For this
purpose, so-called RSI contexts can be created in RSIVisual, in
which predefined function blocks, so-called RSI objects, are
linked.
The programmed signal processing can correct the originally
defined robot path.
License needed per robot.

TCP Speed transfer at Autotek| Tobias Riederle & Oswaldo Cortero | 10-27-2023| www.kuka.com Seite: 3

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2. Needed files

Following attached files were programmed by KUKA for the realization and are provided free of charge for the
implementation.

The following files form a module with the necessary commands to enable and disable signal transmission. This is
just an example program.

TCP Speed transfer at Autotek| Tobias Riederle & Oswaldo Cortero | 10-27-2023| www.kuka.com Seite: 4

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3. How to implement
1. Working Environment WorkVisual:
o Get the working project from the robot controllerInstall KUKA.RobotSensorInterface
2. Working Environment SmartPAD HMI:
o Add the files files “Speed_Calc.rsix” and “RSI-Ethernet.xml” has to be added to the Folder “SensorInterface” on the controller.
o Path: C:\KRC\ROBOTER\Config\User\Common\SensorInterface
o Add the needed declarations and commands to the program which should send the TCP Speed to Vitronic
o Declarations above the DEF line:
o DECL INT ret ; Return value for RSI commands
o DECL INT CONTID ; ContainerID

o Commands to start the transfer, implement where it´s needed:

o ; Create RSI Context
ret = RSI_CREATE("Speed_Calc",CONTID,TRUE)
IF (ret <> RSIOK) THEN
HALT
ENDIF
o ; Start RSI execution
ret = RSI_ON()
IF (ret <> RSIOK) THEN
HALT
ENDIF

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3. How to implement
2. Working Environment SmartPAD HMI:
o Command to deactivate the transfer:
; Turn off RSI
ret = RSI_OFF()
IF (ret <> RSIOK) THEN
HALT
ENDIF
o Open the RSI-Ethernet.xml and add the IP address of the receiving system (maybe also the port number)

Example programs from 27th of October: TCP_SPEED without RSI commands and TCP_SPEED_RSI with RSI commands

TCP Speed transfer at Autotek| Tobias Riederle & Oswaldo Cortero | 10-27-2023| www.kuka.com Seite: 6

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3. Manual
3. Working Environment SmartPAD HMI: Add a virtual network for RSI
- KLI Plugin:
Start-up > Network configuration > Advanced …
- „Add Interface“
- Interface designation: „RSI“
- Adress type: „Mixed IP address“
- Receiving task: „Target subnet“
- Real time receiving task: „UDP“
- Add IP address and subnet mask

RSI needs an own adress area (different to the KLI)

TCP Speed transfer at Autotek| Tobias Riederle & Oswaldo Cortero | 10-27-2023| www.kuka.com Seite: 7

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4. Additional comment
• Validation system at Autotek: Station 550, robot 01
• Software configuration and Hardware configuration from Vitronic neccessary
• Result: Vitronic receives the TCP Speed in real time and high accuracy
− Result was recorded by Vitronic

TCP Speed transfer at Autotek| Tobias Riederle & Oswaldo Cortero | 10-27-2023| www.kuka.com Seite: 8

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