Troubleshooting Guide for Failed Master-Control Communication with KUKA Robot

[Mech-Mind.Support]

1. Introduction

This passage introduces how to troubleshoot a KUKA robot when Mech-Viz fails to establish Master-Control communication with the KUKA robot.

2. Prerequisites

Before using this troubleshooting guide, ensure that the following prerequisites are met:

1. The Set up the Network Connection and Load the program Files to the Robot sections have been completed by following the instructions in Master-Control Communication Setup.
2. The IPC can successfully ping the robot IP.

3. Troubleshooting Procedures

3.1 Stopping Other Communication Programs

Click S at the top of the screen of the teach pendant to open the SUBMIT interpreters. In the Selected module column, check if the Mech-Mind master-control program mm_server is the only running communication program (the state light for the running program is green).

If there are any other running communication programs (for example, the sps program in the figures below), perform the following steps to stop the other programs:

1. Click the user group icon, switch to Expert. The default password is kuka.

   

2. Click S to open the SUBMIT interpreters, and click Display/Assign to configure programs.

   

3. Click Current display/assignment. In the Available modules column, select sps, and click Stop.

   

4. Click Cold start configuration. In the Available modules column, select sps, and clear the Autostart checkbox.

   

3.2 Checking XML files

1. Switch the logged-on user to Expert as instructed in step 1 in 3.1 Stopping Other Communication Programs.

2. Navigate to file path: C:\KRC\ROBOTER\Config\User\Common\EthernetKRL, and check:

   • If the two XML files, mm_motion and mm_status, have been loaded here;
   • If any other XML files exist.
   

3. If there are any other XML communication configuration files, select the file and click Edit, then click Delete to remove them from the EthernetKRL folder.

   

3.3 Adding and Removing Ports

If, after investigating all the potential issues mentioned above, you still cannot establish master-control communication with the robot, consider the possibility of communication port conflicts or occupation. To troubleshoot this, you can release port resources by adding and then removing ports. In this guide, we use ports 54601 and 54602 as examples.

3.3.1 Adding ports

1. Switch the logged-on user to Expert as instructed in step 1 in 3.1 Stopping Other Communication Programs.

2. Open the Main menu, and click Start-up → Network configuration.
   

   

3. Click Advanced in the Network configuration interface for further network configuration.
   

   

4. Click NAT to view the Available ports. Click Add port, then input port numbers 54601 and 54602 respectively. Click ENTER and Save.

   

5. Open the Main menu to select Shutdown, and click Reboot control PC in the Shutdown interface to restart the control PC.

   
   
   
   

3.3.2 Removing ports

1. Repeat steps 1-3 in 3.3.1 Adding ports.

2. Click NAT to view the available ports. Select the ports to be removed respectively, then click Remove port and Save.

   

3. Repeat step 6 in 3.3.1 Adding ports to restart the control PC.

3.4 Further Support

After troubleshooting the robot by following the guides above, please try again to test the master-control communication with the robot in Mech-Viz by following the instructions in Test Master-Control Communication.

If the master-control communication still cannot be established, please contact the Mech-Mind team for further support.