KUKA System Technology KUKA Deutschland GmbH

KUKA.OPC UA 1.0

For KUKA System Software 8.2 and 8.3

For VW System Software 8.2 and 8.3

KUKA.OPC UA

1.0

Issued: 18.05.2018

Version: KST OPC UA 1.0 V2

 KUKA.OPC UA 1.0

© Copyright 2018
KUKA Deutschland GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Deutschland GmbH.
Other functions not described in this documentation may be operable in the controller. The user has
no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software
described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to
guarantee total conformity. The information in this documentation is checked on a regular basis, how-
ever, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
KIM-PS5-DOC
Translation of the original documentation

Publication: Pub KST OPC UA 1.0 (PDF) en

Book structure: KST OPC UA 1.0 V2.1
Version: KST OPC UA 1.0 V2

2 / 39 Issued: 18.05.2018 Version: KST OPC UA 1.0 V2

 Contents

Contents
1 Introduction .................................................................................................. 5
1.1 Target group .............................................................................................................. 5
1.2 Industrial robot documentation ................................................................................... 5
1.3 Representation of warnings and notes ...................................................................... 5
1.4 Terms used ................................................................................................................ 6
1.5 Trademarks ................................................................................................................ 6
1.6 Licenses ..................................................................................................................... 6

2 Product description ..................................................................................... 7

2.1 Overview .................................................................................................................... 7
2.2 Intended use .............................................................................................................. 8

3 Safety ............................................................................................................ 9
3.1 Safety measures for “single point of control” ............................................................. 9

4 Installation .................................................................................................... 11
4.1 System requirements ................................................................................................. 11
4.2 Installation via WorkVisual ......................................................................................... 11
4.2.1 Installing or updating KUKA.OPC UA 1.0 ............................................................. 11
4.3 Installation via smartHMI ............................................................................................ 12
4.3.1 Installing or updating KUKA.OPC UA 1.0 ............................................................ 12
4.3.2 Uninstalling KUKA.OPC UA 1.0 ............................................................................ 13

5 Configuration ............................................................................................... 15
5.1 Configuring process data ........................................................................................... 15

6 Operation ...................................................................................................... 17
6.1 Adding the server in the client .................................................................................... 17
6.2 Overview: Information model ..................................................................................... 17
6.2.1 Information about the robot controller ................................................................... 18
6.2.2 Information about the kinematic system ............................................................... 19
6.2.3 Application-specific process variables .................................................................. 21
6.2.4 Information about statuses of the safety controller ............................................... 21
6.3 Integrating customer specific-information .................................................................. 21
6.4 Displaying the system messages in the client ........................................................... 23

7 Troubleshooting .......................................................................................... 25
7.1 No connection to the OPC UA server ........................................................................ 25

8 Appendix ...................................................................................................... 27
8.1 Configuration file “ProcessData.opcj” ........................................................................ 27

9 KUKA Service .............................................................................................. 29

9.1 Requesting support .................................................................................................... 29
9.2 KUKA Customer Support ........................................................................................... 29

Index ............................................................................................................. 37

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 KUKA.OPC UA 1.0

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 1 Introduction

1 Introduction
t

1.1 Target group

t

This documentation is aimed at users with the following knowledge and skills:
 Advanced knowledge of the robot controller system
 Advanced knowledge of network connections

For optimal use of our products, we recommend that our customers

take part in a course of training at KUKA College. Information about
the training program can be found at www.kuka.com or can be ob-
tained directly from our subsidiaries.

1.2 Industrial robot documentation

The industrial robot documentation consists of the following parts:

 Documentation for the manipulator
 Documentation for the robot controller
 Operating and programming instructions for the System Software
 Instructions for options and accessories
 Parts catalog on storage medium
Each of these sets of instructions is a separate document.

1.3 Representation of warnings and notes

Safety These warnings are relevant to safety and must be observed.

These warnings mean that it is certain or highly probable

that death or severe injuries will occur, if no precautions
are taken.

These warnings mean that death or severe injuries may

occur, if no precautions are taken.

These warnings mean that minor injuries may occur, if

no precautions are taken.

These warnings mean that damage to property may oc-

cur, if no precautions are taken.

These warnings contain references to safety-relevant information or

general safety measures.
These warnings do not refer to individual hazards or individual pre-
cautionary measures.

This warning draws attention to procedures which serve to prevent or remedy

emergencies or malfunctions:

The following procedure must be followed exactly!

Procedures marked with this warning must be followed exactly.

Notices These notices serve to make your work easier or contain references to further
information.

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 KUKA.OPC UA 1.0

Tip to make your work easier or reference to further information.

1.4 Terms used

Term Description
IP Internet Protocol
The Internet Protocol is used to define subnetworks by
means of physical MAC addresses.
JSON JavaScript Object Notation
Data format for data exchange between applications
KLI KUKA Line Interface
Ethernet interface of the robot controller for external
communication (not real-time-capable).
OPC Open Platform Communication
Previously also known as OLE for Process Control
Specification for data exchange between applications
based on Microsoft Windows COM/DCOM technology
OPC-UA OPC Unified Architecture
Software framework for data exchange between appli-
cations based on platform-independent technologies
TCP/IP Transmission Control Protocol
Protocol of the data exchange between devices of a
network.
TCP constitutes a virtual channel between 2 sockets in
a network connection. Data can be transmitted on this
channel in both directions.

1.5 Trademarks

UaExpert® is a trademark of Unified Automation GmbH.

1.6 Licenses

The KUKA license conditions and the license conditions of the open-source
software used can be found in the following folders:
 Under .\LICENSE on the data storage medium with the installation files of
the KUKA software
 Under D:\KUKA_OPT\Option package name\LICENSE after installation on
the robot controller

Further information about open-source licenses can be requested

from the following address: opensource@kuka.com

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 2 Product description

2 Product description
2

2.1
t
Overview

KUKA.OPC UA 1.0 is an add-on option package that installs an OPC UA in-

s

Description
terface on the robot controller. The interface provides a predefined set of robot
data that can be read using an OPC UA client, e.g. in order to use them for
further external data processing and evaluation.
It is also possible to configure that application-specific process variables can
be read and modified using an OPC UA client.

Functions KUKA.OPC UA 1.0 offers the following functionalities:

 Using the robot controller as OPC UA server
 Connection of multiple OPC UA clients
 Reading of robot data
 Reading and writing of process variables (configurable)

Data The following data are provided by the OPC UA server:

 Information about the kinematic system, the robot controller and the elec-
tronic components
 Information about the installed KUKA software packages
 Mechatronic data from the kinematic axes (e.g. the current joint position)
 Information about statuses of the safety controller
 Application-specific process variables that are configured as readable
The following data can be modified via an OPC UA client:
 Application-specific process variables that are configured as writable

Templates A file template for configuration of the process variables is available following
installation of the option package on the robot controller.

Directory C:\KRC\ROBOTER\Config\User\Common
File ProcessData.opcj

Restriction The data provided by the OPC UA server are not automatically updated in the
OPC UA client if a value is changed. On the client side, it must be ensured that
the data are regularly requested from the server.

OPC UA client In order to be able to process the data published with KUKA.OPC UA 1.0, an
OPC UA client is required. We recommend using the following demo client for
test purposes.
 UaExpert v1.4.x and higher
The UaExpert demo client can be downloaded free of charge from the website
of Unified Automation GmbH:
www.unified-automation.com

Communication An OPC UA client must connect to the OPC UA server via the KLI of the robot
controller. As standard, the following port is specified for this:
 Port 4840

Safety certificate KUKA.OPC UA 1.0 uses a self-signed safety certificate. This is transferred to
the OPC UA client when it connects to the OPC UA server on the robot con-
troller.

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 KUKA.OPC UA 1.0

2.2 Intended use

Use KUKA.OPC UA 1.0 is a control-related assembly and is used for reading and
writing variables. There are absolutely no safety-relevant functions. Safety-rel-
evant data cannot be influenced/written to via the interface.
The OPC UA server may be incorrectly configured so that some variables can
no longer be output. Operation in accordance with the intended use thus also
involves compliance with the configuration instructions in this documentation.

Misuse Any use or application deviating from the intended use is deemed to be misuse
and is not allowed. The manufacturer cannot be held liable for any damage re-
sulting from such use. The risk lies entirely with the user.

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 3 Safety

3 Safety
f

y This documentation contains safety instructions which refer specifically to the

option package described here.
The fundamental safety information for the industrial robot can be found in the
“Safety” chapter of the Operating and Programming Instructions for System In-
tegrators or the Operating and Programming Instructions for End Users.

The “Safety” chapter in the operating and programming

instructions must be observed. It is particularly important
to observe those safety measures which are required to ensure complete im-
plementation of the principle of “single point of control” (SPOC).
Failure to implement these safety measures may result in death to persons,
severe injuries or considerable damage to property.

Signal states can be changed by accessing an OPC UA

client or by transferring a project from WorkVisual.
It must be ensured that potentially hazardous signals (e.g. the opening/clos-
ing of a gun) can only be executed if an automatic mode is set and the safety
gate is closed. For this, the signals must be mapped accordingly to the vari-
ables bSPOC_UserSafetyActive and bSPOC_MotionEnabled.

KUKA.OPC UA 1.0 allows up to 100 individual OPC UA connections

through which a manipulation of the robot controller is possible. To re-
duce the risk of unauthorized access to the robot controller, it is rec-
ommended to limit the number of OPC UC clients and authorized OPC UA
users to a few devices.

3.1 Safety measures for “single point of control”

Overview If certain components in the industrial robot are operated, safety measures
must be taken to ensure complete implementation of the principle of “single
point of control” (SPOC).
The relevant components are:
 Submit interpreter
 PLC
 OPC server
 Remote control tools
 Tools for configuration of bus systems with online functionality
 KUKA.RobotSensorInterface

The implementation of additional safety measures may be required.

This must be clarified for each specific application; this is the respon-
sibility of the system integrator, programmer or user of the system.

Since only the system integrator knows the safe states of actuators in the pe-
riphery of the robot controller, it is his task to set these actuators to a safe
state, e.g. in the event of an EMERGENCY STOP.

T1, T2 In modes T1 and T2, the components referred to above may only access the
industrial robot if the following signals have the following states:

Signal State required for SPOC

$USER_SAF TRUE
$SPOC_MOTION_ENABLE TRUE

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 KUKA.OPC UA 1.0

Submit inter- If motions, (e.g. drives or grippers) are controlled with the submit interpreter or
preter, PLC the PLC via the I/O system, and if they are not safeguarded by other means,
then this control will take effect even in T1 and T2 modes or while an EMER-
GENCY STOP is active.
If variables that affect the robot motion (e.g. override) are modified with the
submit interpreter or the PLC, this takes effect even in T1 and T2 modes or
while an EMERGENCY STOP is active.
Safety measures:
 In T1 and T2, the system variable $OV_PRO must not be written to by the
submit interpreter or the PLC.
 Do not modify safety-relevant signals and variables (e.g. operating mode,
EMERGENCY STOP, safety gate contact) via the submit interpreter or
PLC.
If modifications are nonetheless required, all safety-relevant signals and
variables must be linked in such a way that they cannot be set to a dan-
gerous state by the submit interpreter or PLC. This is the responsibility of
the system integrator.

OPC server, These components can be used with write access to modify programs, outputs
remote control or other parameters of the robot controller, without this being noticed by any
tools persons located inside the system.
Safety measure:
If these components are used, outputs that could cause a hazard must be de-
termined in a risk assessment. These outputs must be designed in such a way
that they cannot be set without being enabled. This can be done using an ex-
ternal enabling device, for example.

Tools for configu- If these components have an online functionality, they can be used with write
ration of bus access to modify programs, outputs or other parameters of the robot control-
systems ler, without this being noticed by any persons located inside the system.
 WorkVisual from KUKA
 Tools from other manufacturers
Safety measure:
In the test modes, programs, outputs or other parameters of the robot control-
ler must not be modified using these components.

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 4 Installation

4 Installation
4

The option package can either be installed on the robot controller via the sm-
t
artHMI or via WorkVisual.

4.1 System requirements

Hardware  KR C4 robot controller

 Laptop/PC

Software Robot controller:

 KUKA System Software 8.2 or 8.3
 Or VW System Software 8.2 or 8.3
Laptop/PC:
 WorkVisual 4.0.x
The requirements for installation of WorkVisual are contained in the WorkVi-
sual documentation.
The number of the required release must be taken from the file
ReleaseNotes_[…].TXT. The file is located on the data storage medium con-
taining KUKA.OPC UA 1.0.

Resources Port 4840 must not be assigned in the KLI network configuration.

Compatibility KUKA.OPC UA 1.0 must not be installed on a robot controller together with the
following option packages:
 KUKA.OPC Server 4.0 and 4.1

4.2 Installation via WorkVisual

4.2.1 Installing or updating KUKA.OPC UA 1.0

It is advisable to archive all relevant data before updating a software

package.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection to the robot controller
 No project is open in WorkVisual.
 The option package is available as a KOP file.

Procedure 1. Install the KUKA.OPC UA 1.0 option package in WorkVisual via Extras >
Option package management....
2. Load the active project from the robot controller insert the KUKA.OPC UA
1.0 option package into the project.
3. Configure the option package in WorkVisual as required.
4. Transfer the project to the robot controller, but do not activate it!
This means that if WorkVisual shows the transfer has been successfully
completed, click on Cancel in the WorkVisual Project Deployment win-
dow.
5. On the smartPAD: In the main menu, select Start-up > Additional soft-
ware.

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 KUKA.OPC UA 1.0

6. Press New software: The entry KUKA.OPC UA 1.0 must be displayed in

the Name column and drive D:\ in the Path column.
If not, press Refresh.
7. Select the entry KUKA.OPC UA 1.0 and press Install. Answer the request
for confirmation with Yes.
8. Confirm the reboot prompt with OK.
9. Reboot the robot controller.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

4.3 Installation via smartHMI

4.3.1 Installing or updating KUKA.OPC UA 1.0

It is advisable to archive all relevant data before updating a software

package.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 USB stick with the option package

We recommend using a KUKA USB stick. Data may be

lost if a stick from a different manufacturer is used.

Procedure 1. Connect the USB stick to the robot controller or smartPAD.

2. In the main menu, select Start-up > Additional software.
3. Press New software: The entry KUKA.OPC UA 1.0 must be displayed in
the Name column and drive E:\ or K:\ in the Path column.
If not, press Refresh.
4. If the specified entries are now displayed, continue with step 5.
Otherwise, the path from which the software is to be installed must be con-
figured first:
a. Press the Configure button.
b. Select a line in the Installation paths for options area.
Note: If the line already contains a path, this path will be overwritten.
c. Press Path selection. The available drives are displayed.
d. If the stick is connected to the robot controller: Select E:\.
If the stick is connected to the smartPAD: K:\ instead of E:\
e. Press Save. The Installation paths for options area is displayed
again. It now contains the new path.
f. Mark the line with the new path and press Save again.
5. Activate the check mark at KUKA.OPC UA 1.0 and press Install. Answer
the request for confirmation with Yes.
6. Confirm the installation message with OK and press Restart.
7. Answer the request for confirmation with Yes. The option package is in-
stalled and the robot controller carries out a reboot.
8. Remove the stick.

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 4 Installation

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

4.3.2 Uninstalling KUKA.OPC UA 1.0

It is advisable to archive all relevant data before uninstalling a soft-

ware package.

Precondition  User group “Expert”

 Operating mode T1 or T2.
 No program is selected.

Procedure 1. In the main menu, select Start-up > Additional software.

2. Activate the check mark at KUKA.OPC UA 1.0 and press Uninstall. An-
swer the request for confirmation with Yes.
3. Confirm the installation message with OK and press Restart.
4. Answer the request for confirmation with Yes. The option package is un-
installed and the robot controller carries out a reboot.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

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 5 Configuration

5 Configuration
f

5.1 Configuring process data

t

Description In addition to the predefined data from KUKA, the user can publish application-
specific process variables with the OPC UA server.
Publishable process variables are:
 System variables ($ variables)
 Global KRL variables
A file template for configuration of the process variables is available following
installation of the option package on the robot controller. The file follows a
JSON syntax and contains a configuration example.
(>>> 8.1 "Configuration file “ProcessData.opcj”" Page 27)

File template Directory C:\KRC\ROBOTER\Config\User\Common

File ProcessData.opcj

For configuration, the file template can be edited directly, or copied and edited
and then saved in the aforementioned directory with a different user-defined
name. Multiple opcj files can be saved in the directory.
The following is a description of the procedure for configuration using WorkVi-
sual.

In the case of a software update, the process data configured in an

opcj file are retained.

Precondition  No project is open in WorkVisual.

 Network connection to the robot controller
 User group “Expert”
 T1 or T2 mode
 No program is selected.

Procedure 1. Load the active project from the robot controller.

2. Expand the file structure of the robot controller on the Files tab in the Proj-
ect structure window.
3. Right-click on the desired file and open it in an editor via the context menu.
4. Edit the file as required and save it in the project.
5. Transfer the project back to the robot controller.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

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 6 Operation

6 Operation

The following descriptions and procedures are based on the UaEx-

t

pert demo client.

6.1 Adding the server in the client

Description In order to connect to the OPC UA server on the robot controller, it must be
added to the OPC UA client. The connection is established via the IP address
of the robot controller.

Precondition  IP address of the robot controller is known.

Procedure  Enter the following URL when adding the server:

opc.tcp://IP address:4840

6.2 Overview: Information model

If the OPC UA client is connected to the OPC UA server, the current data are
retrieved from the robot controller and displayed in the Address Space win-
dow.
If an element is selected, its properties are displayed in the Attributes win-
dow.

Fig. 6-1: Overview: Information model

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 KUKA.OPC UA 1.0

Item Description
1 Objects folder
The folder contains the currently retrieved robot data.
2 Information about the robot system
 Robot controller
 Customer information
 Kinematic systems
 Process data
 Safety status
3 Information from the OPC Foundation (not currently used by
KUKA)
4 Runtime information about the OPC UA server
5 Views folder
No Views are currently defined by KUKA.
6 Types folder
The folder contains the definitions for each object type used in the
Objects folder.
7 Information from the OPC Foundation (not currently used by
KUKA)

6.2.1 Information about the robot controller

Fig. 6-2: Information about the robot controller

Item Description
1 Controller_1 object
The Controller_1 object provides the system messages of the sys-
tem software as OPC UA events.
(>>> 6.4 "Displaying the system messages in the client" Page 23)
2 KLI network configuration and performance indicators

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 6 Operation

Item Description
3 Electronic identification plate of the robot controller
 Article number
 Manufacturer
 Model
 Serial number
4 CPU and memory utilization plus operating system specification
5 Installed KUKA software package
6 Activity of robot interpreter and submit interpreter
7 Operating information
 Robot controller runtime
 Battery status
 Activated project
8 Electronic components of the robot controller

6.2.2 Information about the kinematic system

For each kinematic system, a separate motion device object provides the fol-
lowing information:

Fig. 6-3: Information about the kinematic system

Item Description
1 Motion device object
2 List with the axes of the kinematic system
3 Active load on the flange
4 Information about the active TCP and other coordinate systems

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 KUKA.OPC UA 1.0

Item Description
5 Information about the motion execution
 Path-maintaining
 Motion status
 Programmed Cartesian velocity
6 Electronic identification plate of the kinematic system
 Article number
 Manufacturer
 Model
 Serial number

For each axis of a kinematic system, the corresponding axis object provides
the following information:

Fig. 6-4: Information about the axis of a kinematic system

Item Description
1 Axis object
2 Gear unit information
3 List with the motors of the axis
4 Electronic identification plate of the motor
 Article number
 Manufacturer
 Model
 Serial number
5 Information about the axis (current status)
 Axis position
 Axis velocity
 Overall time axis is under servo control (operating hours)

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 6 Operation

Item Description
6 Information about the motor (current status)
 Status of axis brake
 Motor temperature
7 Active axis load (if present)

6.2.3 Application-specific process variables

The process variables configured as readable in the file ProcessData.opcj can

be found in the Process Data object. Here, for example, the system variable
$MODE_OP.

Fig. 6-5: Application-specific process variables

6.2.4 Information about statuses of the safety controller

The safety states object provides information about statuses of the safety con-
troller, e.g.:
 E-STOP
 Operator safety
 Enabling device
 Operating mode

Fig. 6-6: Information about statuses of the safety controller

6.3 Integrating customer specific-information

Description The OPC UA client can save any amount of static information in the OPC UA
server. Using the OPC UA client, the user can create the nodes with the de-
sired information and delete them again as required.

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 KUKA.OPC UA 1.0

Fig. 6-7: Customer-specific information

Procedure Creating a node with the Add method:

1. Right-click on Add and call the method with Call....
2. Transfer the following input parameters to the method:
 Path: Path to variable node
Using the path, any number of levels (separated by the “/” symbol) can
be added under the CustomerInfo node.
If no path is specified, the variable node is created directly under the
CustomerInfo node.
 Name: Display name of the variable
 Value: Value of the variable
3. Close the method with Call.
4. Right-click on the CustomerInfo node and select Rebrowse.
Changing the variable value of a node:
1. Select the desired variable under the variable node.
2. Enter the new variable value directly under Value in the Attributes win-
dow.
Deleting a node with the Delete method:
1. Right-click on Delete and call the method with Call....
2. Transfer the input parameters Path and Name to the method:
 In order to delete a specific variable node, enter the display name of
the variable and the corresponding path to the variable node (separat-
ed by the “/” symbol).
 If the node to be deleted is located directly below the CustomerInfo
node, it is not necessary to enter a path.
 If only a path is entered, and no name, all variables and levels located
below the level specified in Path are deleted.
3. Close the method with Call.
4. Right-click on the CustomerInfo node and select Rebrowse.
Deleting a node with the DeleteByNodeID method (for advanced client
users):
1. Right-click on DeleteByNodeId and call the method with Call....
2. Transfer the NodeId of the node that is to be deleted to the method as the
input parameter:
 "NameSpaceIndex"
 "IdentifierType"
 "Identifier"
3. Close the method with Call.
4. Right-click on the CustomerInfo node and select Rebrowse.

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 6 Operation

6.4 Displaying the system messages in the client

Description The system messages can be displayed in the UAExpert demo client. They
are provided by the Controller_1 object as OPC UA events.

Procedure 1. Select the menu sequence Document > Add > Event View to display the
Event View window.
2. Drag the Controller_1 object in the Address Space window to the Serv-
er/Object box in the Event View window by means of Drag&Drop. The
messages are displayed in the Events box.

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 7 Troubleshooting

7
T
Troubleshooting

7.1
s
No connection to the OPC UA server

Error
t
The OPC UA client can no longer establish the connection to the OPC UA
server on the robot controller.

Cause Port 4840 of the KLI, which is used for the OPC UA communication, has been
deactivated, e.g. by activating an earlier version of a WorkVisual project on the
robot controller following installation of KUKA.OPC UA 1.0.

Solution In order to be able to use the currently active project with KUKA.OPC UA 1.0,
the port must be enabled and the project must then be activated on the robot
controller again via WorkVisual.

Precondition  User group “Expert”

 Operating mode T1 or T2.
 No program is selected.

Procedure 1. In the KLI network configuration, check whether port 4840 is present in the
NAT list; if not, enable the port:
a. In the main menu, select Start-up > Network configuration. The Net-
work configuration window opens.
b. Press Activate (KSS/VSS 8.2) or Advanced... (KSS/VSS 8.3). The
window for advanced network configuration opens.
c. Select the NAT tab. A list of all the enabled ports of the Windows in-
terface is displayed in the Available ports: area.
d. If the port is to be enabled:
i. Press Add port. A new port with the number “0” is added to the list.
ii. Enter 4840 in the Port number: box.
iii. Select tcp in the Permitted protocols: box.
iv. Press Save.
A maximum total of 40 ports can be enabled.
e. Close the Network configuration window using the Close icon.
f. Only if modifications have been made:
Reboot the robot controller so that the changes take effect. To do so,
if PROFINET is used, select Shutdown in the main menu and select
the option Reload files.
2. Load the active project from the robot controller in WorkVisual.
3. Transfer the project back from WorkVisual to the robot controller and acti-
vate it.

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 8 Appendix

8
A
Appendix

8.1
x
Configuration file “ProcessData.opcj”

{
"data_sets": [
/* // Uncomment here.
{
// Name of the parent node in the OPC-UA structure.
"node": "ProcessData",
// Hierarchical path for the child node to be generated.
"id": "Example",
// Desired sampling rate applied to all variables in the data set
// (supported values >= 100)
"min_sample_time": 1000,
"descr": "A Commentary for the data set!",
// List of the system variables.
"data_points": [
{
// Alias (mandatory).
"id": "ControllerUptime",
// Complete variable system name (mandatory).
"sys_name": "$ROB_TIMER",
// Desired sampling rate applied to a single variable
// (optional, supported values >= 100).
"min_sample_time": 100,
// Mode of value update between OPC UA server and KSS.
// Push=false makes OPC UA server synchronously read variable
// values from controller via cyclic ShowVar calls
// (default and recommended setting).
// Push=true makes OPC UA server subscribe to acyclic SetInfo
// events (recommended if user is familiar with behaviour of
// controller’s Cross interface).
"push": false,
//Indicates whether the variable may be written by client
"writeable": false
}
]
}
,
{
"node": "ProcessData",
"id": "Special/SpecialData",
"min_sample_time": 1000,
"descr": "A commentary for the data set!",
"data_points": [
{
"id": "ModeOP",
"sys_name": "$MODE_OP",
"min_sample_time": 100,
"push": true,
"writeable": false
}
]
}*/ //Uncomment here.
]
}

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 9 KUKA Service

9 KUKA Service
A

9.1 Requesting support

v

Introduction This documentation provides information on operation and operator control,

and provides assistance with troubleshooting. For further assistance, please
contact your local KUKA subsidiary.

Information The following information is required for processing a support request:

 Description of the problem, including information about the duration and
frequency of the fault
 As comprehensive information as possible about the hardware and soft-
ware components of the overall system
The following list gives an indication of the information which is relevant in
many cases:
 Model and serial number of the kinematic system, e.g. the manipulator
 Model and serial number of the controller
 Model and serial number of the energy supply system
 Designation and version of the system software
 Designations and versions of other software components or modifica-
tions
 Diagnostic package KRCDiag
Additionally for KUKA Sunrise: Existing projects including applications
For versions of KUKA System Software older than V8: Archive of the
software (KRCDiag is not yet available here.)
 Application used
 External axes used

9.2 KUKA Customer Support

Availability KUKA Customer Support is available in many countries. Please do not hesi-
tate to contact us if you have any questions.

Argentina Ruben Costantini S.A. (Agency)

Luis Angel Huergo 13 20
Parque Industrial
2400 San Francisco (CBA)
Argentina
Tel. +54 3564 421033
Fax +54 3564 428877
ventas@costantini-sa.com

Australia KUKA Robotics Australia Pty Ltd

45 Fennell Street
Port Melbourne VIC 3207
Australia
Tel. +61 3 9939 9656
info@kuka-robotics.com.au
www.kuka-robotics.com.au

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Belgium KUKA Automatisering + Robots N.V.

Centrum Zuid 1031
3530 Houthalen
Belgium
Tel. +32 11 516160
Fax +32 11 526794
info@kuka.be
www.kuka.be

Brazil KUKA Roboter do Brasil Ltda.

Travessa Claudio Armando, nº 171
Bloco 5 - Galpões 51/52
Bairro Assunção
CEP 09861-7630 São Bernardo do Campo - SP
Brazil
Tel. +55 11 4942-8299
Fax +55 11 2201-7883
info@kuka-roboter.com.br
www.kuka-roboter.com.br

Chile Robotec S.A. (Agency)

Santiago de Chile
Chile
Tel. +56 2 331-5951
Fax +56 2 331-5952
robotec@robotec.cl
www.robotec.cl

China KUKA Robotics China Co., Ltd.

No. 889 Kungang Road
Xiaokunshan Town
Songjiang District
201614 Shanghai
P. R. China
Tel. +86 21 5707 2688
Fax +86 21 5707 2603
info@kuka-robotics.cn
www.kuka-robotics.com

Germany KUKA Deutschland GmbH

Zugspitzstr. 140
86165 Augsburg
Germany
Tel. +49 821 797-1926
Fax +49 821 797-41 1926
Hotline.robotics.de@kuka.com
www.kuka.com

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France KUKA Automatisme + Robotique SAS

Techvallée
6, Avenue du Parc
91140 Villebon S/Yvette
France
Tel. +33 1 6931660-0
Fax +33 1 6931660-1
commercial@kuka.fr
www.kuka.fr

India KUKA India Pvt. Ltd.

Office Number-7, German Centre,
Level 12, Building No. - 9B
DLF Cyber City Phase III
122 002 Gurgaon
Haryana
India
Tel. +91 124 4635774
Fax +91 124 4635773
info@kuka.in
www.kuka.in

Italy KUKA Roboter Italia S.p.A.

Via Pavia 9/a - int.6
10098 Rivoli (TO)
Italy
Tel. +39 011 959-5013
Fax +39 011 959-5141
kuka@kuka.it
www.kuka.it

Japan KUKA Japan K.K.

YBP Technical Center
134 Godo-cho, Hodogaya-ku
Yokohama, Kanagawa
240 0005
Japan
Tel. +81 45 744 7531
Fax +81 45 744 7541
info@kuka.co.jp

Canada KUKA Robotics Canada Ltd.

6710 Maritz Drive - Unit 4
Mississauga
L5W 0A1
Ontario
Canada
Tel. +1 905 670-8600
Fax +1 905 670-8604
info@kukarobotics.com
www.kuka-robotics.com/canada

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Korea KUKA Robotics Korea Co. Ltd.

RIT Center 306, Gyeonggi Technopark
1271-11 Sa 3-dong, Sangnok-gu
Ansan City, Gyeonggi Do
426-901
Korea
Tel. +82 31 501-1451
Fax +82 31 501-1461
info@kukakorea.com

Malaysia KUKA Robot Automation (M) Sdn Bhd

South East Asia Regional Office
No. 7, Jalan TPP 6/6
Taman Perindustrian Puchong
47100 Puchong
Selangor
Malaysia
Tel. +60 (03) 8063-1792
Fax +60 (03) 8060-7386
info@kuka.com.my

Mexico KUKA de México S. de R.L. de C.V.

Progreso #8
Col. Centro Industrial Puente de Vigas
Tlalnepantla de Baz
54020 Estado de México
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
info@kuka.com.mx
www.kuka-robotics.com/mexico

Norway KUKA Sveiseanlegg + Roboter

Sentrumsvegen 5
2867 Hov
Norway
Tel. +47 61 18 91 30
Fax +47 61 18 62 00
info@kuka.no

Austria KUKA Roboter CEE GmbH

Gruberstraße 2-4
4020 Linz
Austria
Tel. +43 7 32 78 47 52
Fax +43 7 32 79 38 80
office@kuka-roboter.at
www.kuka.at

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Poland KUKA Roboter CEE GmbH Poland

Spółka z ograniczoną odpowiedzialnością
Oddział w Polsce
Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
ServicePL@kuka-roboter.de

Portugal KUKA Robots IBÉRICA, S.A.

Rua do Alto da Guerra n° 50
Armazém 04
2910 011 Setúbal
Portugal
Tel. +351 265 729 780
Fax +351 265 729 782
info.portugal@kukapt.com
www.kuka.com

Russia KUKA Russia OOO

1-y Nagatinskiy pr-d, 2
117105 Moskau
Russia
Tel. +7 495 665-6241
support.robotics.ru@kuka.com

Sweden KUKA Svetsanläggningar + Robotar AB

A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
info@kuka.se

Switzerland KUKA Roboter Schweiz AG

Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
info@kuka-roboter.ch
www.kuka-roboter.ch

Slovakia KUKA Roboter CEE GmbH

organizačná zložka
Bojnická 3
831 04 Bratislava
Slovakia
Tel. +420 226 212 273
support.robotics.cz@kuka.com

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Spain KUKA Iberia, S.A.U.

Pol. Industrial
Torrent de la Pastera
Carrer del Bages s/n
08800 Vilanova i la Geltrú (Barcelona)
Spain
Tel. +34 93 8142-353
comercial@kukarob.es

South Africa Jendamark Automation LTD (Agency)

76a York Road
North End
6000 Port Elizabeth
South Africa
Tel. +27 41 391 4700
Fax +27 41 373 3869
www.jendamark.co.za

Taiwan KUKA Automation Taiwan Co. Ltd.

1F, No. 298 Yangguang ST.,
Nei Hu Dist., Taipei City, Taiwan 114
Taiwan
Tel. +886 2 8978 1188
Fax +886 2 8797 5118
info@kuka.com.tw

Thailand KUKA (Thailand) Co. Ltd.

No 22/11-12 H-Cape Biz Sector Onnut
Sukhaphiban 2 road, Prawet
Bangkok 10250
Thailand
Tel. +66 (0) 90-940-8950
HelpdeskTH@kuka.com

Czech Republic KUKA Roboter CEE GmbH

organizační složka
Pražská 239
25066 Zdiby
Czech Republic
Tel. +420 226 212 273
support.robotics.cz@kuka.com

Hungary KUKA HUNGÁRIA Kft.

Fö út 140
2335 Taksony
Hungary
Tel. +36 24 501609
Fax +36 24 477031
info@kuka-robotics.hu

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USA KUKA Robotics Corporation

51870 Shelby Parkway
Shelby Township
48315-1787
Michigan
USA
Tel. +1 866 873-5852
Fax +1 866 329-5852
info@kukarobotics.com
www.kukarobotics.com

UK KUKA Robotics UK Ltd

Great Western Street
Wednesbury West Midlands
WS10 7LL
UK
Tel. +44 121 505 9970
Fax +44 121 505 6589
service@kuka-robotics.co.uk
www.kuka-robotics.co.uk

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 Index

Index
A Safety instructions 5
Appendix 27 Server, adding in the client 17
Single point of control 9
C Software 11
Communication 7 SPOC 9
Compatibility 11 Support request 29
Configuration 15 System messages, displaying in the client 23
Controller_1 object 18 System requirements 11
Customer specific-information, integrating 21
T
D Target group 5
Documentation, industrial robot 5 TCP/IP 6
Templates 7
F Terms used 6
Functions 7 Trademarks 6
Training 5
H Troubleshooting 25
Hardware 11
U
I Uninstallation, smartHMI 13
Information model, overview 17 Update 11
Installation 11 Update, smartHMI 12
Installation via smartHMI 12 Use, intended 8
Installation via WorkVisual 11
Installation, smartHMI 12 W
Introduction 5 Warnings 5
IP 6

J
JSON 6

K
KLI 6
Knowledge, required 5
KUKA Customer Support 29
KUKA Service 29

L
Licenses 6

O
OPC 6
OPC UA client 7
OPC UA events 18
OPC-UA 6
Open source 6
Operation 17
Overview, information model 17
Overview, KUKA.OPC UA 1.0 7

P
Process data, configuring 15
Process variables 21
Product description 7

S
Safety 9
Safety certificate 7

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