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Kawasaki driver
#1
I am trying to connect to a kawasaki robot. i enter the ip address and press ping and it says that the ping succeeded. When I try to press connect it just stays disconnected. 
Here is the connection log errors that I am recieving:


Starting robot driver: C:/RoboDK/api/robot/KawasakiDriver.py
Starting...
Unexpected error: Traceback (most recent call last):
Unexpected error: File "C:/RoboDK/api/robot/KawasakiDriver.py", line 26, in <module>
Unexpected error: exec("from v" + version_str + ".KawasakiDriver import *")
Unexpected error: File "<string>", line 1, in <module>
Unexpected error: File "C:\RoboDK\api\robot\KawasakiDriver.py", line 66, in <module>
Unexpected error: ModuleNotFoundError: No module named 'clr'
Sending command...
Stopped
Driver KawasakiDriver.py not running
Disconnected
Stopped
Starting robot driver: C:/RoboDK/api/robot/KawasakiDriver.py
Starting...
Unexpected error: Traceback (most recent call last):
Unexpected error: File "C:/RoboDK/api/robot/KawasakiDriver.py", line 26, in <module>
Unexpected error: exec("from v" + version_str + ".KawasakiDriver import *")
Unexpected error: File "<string>", line 1, in <module>
Unexpected error: File "C:\RoboDK\api\robot\KawasakiDriver.py", line 66, in <module>
Unexpected error: ModuleNotFoundError: No module named 'clr'
Sending command...
Stopped
Driver KawasakiDriver.py not running
Disconnected
#2
You should run the following BAT file manually using administrator privileges:
C/RoboDK/api/robot/KawasakiDriver-Register.bat

This will install the clr module required to run the Kawasaki driver.

Let us know if you have any issues. This driver is new and we look forward to making sure it works well.
#3
I had the same problem as denningt here what I did. I hope this helps someone:


Ran C:/RoboDK/api/robot/KawasakiDriver-Register.bat as administrator.
It returned an error:

Code:
RegAsm : error RA0000 : Unable to locate input assembly 'C:\RoboDK\api\Robot\krcc64.dll' or one of its dependencies.

Turned out I was missing VC++ 2010 redistributable x64. Installed it and ran the Driver Register again and it completed successfully.

Code:
RegAsm : warning RA0000 : Registering an unsigned assembly with /codebase can cause your assembly to interfere with other applications that may be installed on the same computer. The /codebase switch is intended to be used only with signed assemblies. Please give your assembly a strong name and re-register it.
Types registered successfully

Done

Opened RoboDK again and tried to connect. Still got the CLR error. Turned out I didn't have Pythonnet installed. So ran the command "pip install pythonnet" from the command-line. And now the error is gone. Still cannot connect to the robot but at least the error is gone.
I assume the default port number is incorrect. I changed it to 23 but still nothing. And that's how far I got.
#4
You can take the dependencies from the ZIP file attached. You should unzip all its contents here:
C:/RoboDK/api/robot/

Let us know if you still have issues.


Attached Files
.zip   KawasakiDriver.zip (Size: 490.94 KB / Downloads: 47)
#5
(09-14-2021, 09:13 AM)Albert Wrote: You can take the dependencies from the ZIP file attached. You should unzip all its contents here:
C:/RoboDK/api/robot/

Let us know if you still have issues.

The dlls and bat: Same as the ones in RoboDK v5.2.5, so I assume it doesn't actually fix the issues I described in post #3 with missing pythonnet and MS VC++ 2010 (You should be able to replicate those issues by installing RoboDK on a new installations of Windows 10).

Anyway replaced the .py file and experienced the same problem as before. Changed the ip-address and port number, pressed "Connect". It seemed to connect but when I pressed "Get Position" it got stuck in "Working...".

Code:
Disconnected
Stopped
Starting robot driver: C:/RoboDK/api/robot/KawasakiDriver.py
Starting...
Python version
3.7.3 (v3.7.3:ef4ec6ed12, Mar 25 2019, 22:22:05) [MSC v.1916 64 bit (AMD64)]
sys.version_info(major=3, minor=7, micro=3, releaselevel='final', serial=0)
RoboDK Driver for kawasaki v1.0.1
Disconnected
Sending command...
Connecting to robot IPADDRESS:PORT
Working...
Robot Name TCP as@IPADDRESS PORT
Not connected
Not connected
Ready
Sending command...
Working...

Sniffing the TCP connection with Wireshark shows RoboDK logs in, runs command 'type""'. And when I press "Get Position" RoboDK gives the command "WHERE 1" and the Robot returns the joint value and it keeps on going. As is expected. "WHERE 1" will continue to give you the JOINT values until the client presses ENTER.

A cleaned up version of the TCP communication:

Code:
Robot: login:
Client: as
Robot: This is AS monitor terminal "AUX5"
Client: type ""
Client: WHERE 1
The rest is from the robot:
Joint value
    JT1       JT2       JT3       JT4       JT5       JT6  
  109.412    68.660   -56.637     0.071   -64.624     0.340
  109.412    68.660   -56.637     0.071   -64.624     0.340
  109.412    68.660   -56.637     0.071   -64.624     0.340
  109.412    68.660   -56.637     0.071   -64.624     0.340
  109.412    68.660   -56.637     0.071   -64.624     0.340
  109.412    68.660   -56.637     0.071   -64.624     0.340
  109.412    68.660   -56.637     0.071   -64.624     0.340
  109.412    68.660   -56.637     0.071   -64.624     0.340
  109.412    68.660   -56.637     0.071   -64.624     0.340
  109.412    68.660   -56.637     0.071   -64.624     0.340
  109.412    68.660   -56.637     0.071   -64.624     0.340
  109.412    68.660   -56.637     0.071   -64.624     0.340
(etc. One line every second)

And "Send program to robot" fails silently.

Anyway, I think I'm done for now. I dont have the time. Good luck @dennisgt I your problem is going to get solved
#6
Thank you for helping troubleshoot. You may need to unblock the DLL files if you download the file from the ZIP folder I attached (right click the DLL, select Properties and select Unblock). I understand we also need MSVC2010 redistributable. We'll add these dependencies with the new public release of RoboDK.
#7
I've gotten to the same point in this thread as member TroelsV.
The robot controller continues to give JOINT values went Get Position is pushed until I go into the Kawasaki Robot Terminal "KCwinTCP" & stop it.
RoboDK Stop, Disconnect, and "double click Disconnect" does not work.
It just says, Working…
I've checked the .dll's as per Albert's suggestion to make sure they are not blocked but still have the same issue.

Any ideas?
#8
Are you using the latest version of RoboDK?

If so, I'll pass down the bug to our dev team.

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#9
Good Morning,

I'm currently using the trial version I downloaded last week.
#10
ok thanks.
The Kawasaki driver is relatively new and we didn't get much feedback on it.
There might still be some issues or specificities that I'm not aware of.

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


  




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