KUKA KRC4 启动时都发生了什么

目的

KUKA 机器人的 KRC4 控制器,采用了Windows 和 VxWorks 系统结合的 VxWin,的确独特。所以 LT 特意留意搜集这个系统的方方面面,了解系统如何运作,以便更好地进行工程开发设计。

KRC4 自带的一个 telnet 工具 PuTTYtel ,它不同于公版 PuTTYtel ( 关于 PuTTY 介绍,参见 http://www.chiark.greenend.org.uk/~sgtatham/putty/ ),是KUKA自己编译的,可以通过参数 -vio 访问 VxWork系统控制台 。

C:\Windows\System32\PuTTYtel.exe -vio -noflush

换而言之,你可以使用VxWorks系统里命令做一些事情了。

下面信息来自 OfficeLite V8.2.16 :

Product               : VxWin RT
VxWorks version       : VxWorks 6.8 SMP.
Made on               : Jan 17 2012, 13:08:12.

VMF version           : 1.16.5.0
VMF descriptor        : @ 0x1400000.
VMF data descriptor   : @ 0x490bca0.
RTOS section = [Rtos]
bootline = 'none(0,2)pc:vxWorks f=0x400'
+sysHwInit
-sysHwInit
+globalMemHwInit
Err: No SMBus controller found
-globalMemHwInit
+sysHwInit2
+sysHwInit2Timer
-sysHwInit2
Target Name: vxTarget
User: target
'' is not a valid interface name
CSystem::CSystem

Adding 27870 symbols for standalone.
Unknown Mainboard!


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 ]]]]]]]]]]]]]]]]]]]]]]]]]]]]]       Development System
 ]]]]]]]]]]]]]]]]]]]]]]]]]]]]
 ]]]]]]]]]]]]]]]]]]]]]]]]]]]       VxWorks 6.8 SMP
 ]]]]]]]]]]]]]]]]]]]]]]]]]]       KERNEL: WIND version 2.13
 ]]]]]]]]]]]]]]]]]]]]]]]]]       Copyright Wind River Systems, Inc., 1984-2009

 CPU: VxWin.  Processor #2.
 Memory Size: 0xbdeb000.  BSP version 2.0/14.
 Created: Jan 17 2012, 13:08:12
 ED&R Policy Mode: Lab
 WDB Comm Type: WDB_COMM_END
 WDB: Agent configuration failed.

-> LogManager instanziiert

tLogOut threadID: 0x5092ad4

INFO   tKukaInit  00:00:01.399 : System-Tick tick period [ps]: 1000000000, System-Tick frequency [hz]: 1000
INFO   tKukaInit  00:00:01.399 : HPET tick period [fs]: 69841279, HPET frequency [hz]: 14318180
INFO   tKukaInit  00:00:01.600 : TSC tick period [fs]: 375905, TSC frequency [hz]: 2660248045
INFO   tKukaInit  00:00:01.600 : VxWorks Kernel Image ends at :  0x4c07c20
INFO   tKukaInit  00:00:01.600 : VxWorks Kernel Heap starts at:  0x5007c20, Size: 136.00 MB
INFO   tKukaInit  00:00:01.600 : VxWorks User Space starts at :  0xd807c20, Size:  37.89 MB
CLoggingLib::init()
nach os_shm_open: status = 0, m_pLogRegistry = 0x10000000
Instantiating /rdisk as rawFs,  device = 0x10001
Formatting /rdisk for DOSFS
Instantiating /rdisk as rawFs, device = 0x10001
Formatting...OK.
INFO   kukaRdiskUpdateContent: Preparing Ram-Disk for initial boot ...
CIFS: trying to mount '\Roboter'...
 100 99 98 97 96 95
CIFS: successfully mounted '\Roboter'.
INFO   kukaRdiskUpdateContent: Copying recursively into '/rdisk/Roboter/*.o'.
INFO   kukaRdiskUpdateContent: Copying recursively into '/rdisk/Roboter/*.vxe'.
INFO   kukaRdiskUpdateContent: Copying recursively into '/rdisk/Roboter/*.lo'.
INFO   kukaRdiskUpdateContent: Creating empty directory '/rdisk/Roboter/Config'.
INFO   kukaRdiskUpdateContent: Copying recursively into '/rdisk/Roboter/Config/System'.
INFO   kukaRdiskUpdateContent: Copying recursively into '/rdisk/Roboter/Config/User'.
INFO   kukaRdiskUpdateContent: Copying recursively into '/rdisk/Roboter/DRIVERS'.
INFO   kukaRdiskUpdateContent: Copying recursively into '/rdisk/Roboter/INIT'.
INFO   kukaRdiskUpdateContent: Copying recursively into '/rdisk/Roboter/IR_SPEC'.
INFO   kukaRdiskUpdateContent: Creating empty directory '/rdisk/Roboter/LOG'.
INFO   kukaRdiskUpdateContent: Creating empty directory '/rdisk/Roboter/LOG/KrlDiag'.
INFO   kukaRdiskUpdateContent: Creating empty directory '/rdisk/Roboter/LOG/POSLOG'.
INFO   kukaRdiskUpdateContent: Creating empty directory '/rdisk/Roboter/LOG/SafeOS'.
INFO   kukaRdiskUpdateContent: Copying recursively into '/rdisk/Roboter/ProConOS'.
INFO   kukaRdiskUpdateContent: Copying recursively into '/rdisk/Roboter/SafeBin'.
INFO   kukaRdiskUpdateContent: Creating empty directory '/rdisk/Roboter/Trace'.
INFO   kukaRdiskUpdateContent: ... preparing Ram-Disk finished.
INFO   iConnectio 17:25:48.653 : System-Tick tick period [ps]: 1000000000, System-Tick frequency [hz]: 1000
INFO   iConnectio 17:25:48.653 : HPET tick period [fs]: 69841279, HPET frequency [hz]: 14318180
AdminInitFSAvailable: ConfigReader allokiert
INFO   tKukaInit  17:25:48.818 : parsing Logging_BrakeTest.xml, index = 1
CLoggingLib::init()
nach os_shm_open: status = 0, m_pLogRegistry = 0x10000000
RegisterLoggingThread("iConnectionLibNameServer"): specific key konnte nicht gesetzt werden ! result = 22
LoggingLib: RegisterLoggingThread returned "false" - "NameServer" was created...
INFO   iConnectio 17:25:48.854 : TSC tick period [fs]: 375885, TSC frequency [hz]: 2660391100
BASIC  iConnectio 17:25:48.859 : Nameserver starting...
INFO   tKukaInit  17:25:48.873 : parsing Logging_System.xml, index = 2
INFO   tKukaInit  17:25:48.935 : readAndSetupSpecial: returning false
INFO   tKukaInit  17:25:48.935 : Logging_System.xml: isActive = false
rufe changeSettings
INFO   tKukaInit  17:25:48.970 : CLogFileHdlr: File CIFSDev\Roboter/Log/System/System2014-09-11_17-25-48.csv geöffnet
INFO   tKukaInit  17:25:49.007 : CLogFileHdlr: File CIFSDev\Roboter/Log/BrakeTest/BrakeTest2014-09-11_17-25-48.csv geöffnet
INFO   tTickGuard 17:25:49.013 : TickGuard: Supervisor task startet.
BASIC  iConnectio 17:25:49.228 : NAMESERVER: Server SysBoot registered
BASIC  iConnectio 17:25:49.428 : NAMESERVER: Server SysSched registered
BASIC  tSysExc    17:25:49.429 : Thread SysExc started
BASIC  tSysBoot   17:25:49.434 : SysBoot: Module KRC available
BASIC  iConnectio 17:25:49.437 : NAMESERVER: Server MM registered
BASIC  iConnectio 17:25:49.441 : NAMESERVER: Server Simu registered
BASIC  iConnectio 17:25:49.444 : NAMESERVER: Server KRC registered
BASIC  iConnectio 17:25:49.448 : NAMESERVER: Server CommService registered
BASIC  iConnectio 17:25:49.450 : NAMESERVER: Server Trace registered
BASIC  iConnectio 17:25:49.456 : NAMESERVER: Server Diagnose registered
BASIC  tSysBoot   17:25:50.042 : SysBoot: State PREINIT_DHGSTL_DONE reached !
BASIC  tSysSched  17:25:50.049 : SysSched::StartScheduling, m_nFrameTicks = 12
Progress version 8.2.103 (krc1adm@deau1svr12pt-06) (4.1.2) 1 Tue 17 Jan 2012 12:43:33

INFO   tKRC       17:25:50.071 : Kernsystem gestartet: Progress version 8.2.103 (krc1adm@deau1svr12pt-06) (4.1.2) 1 Tue 17 Jan 2012 12:43:33
INFO   tKRC       17:25:50.071 : read_hw_info(): KRC XML file data available
INFO   tKRC       17:25:50.071 : UNMASKED_EXCEPTIONS = 0
INFO   tKRC       17:25:50.071 : MASKED_TASKS = NONE
INFO   tKRC       17:25:50.071 : always_MASKED_TASKS = tKRCDebug, tShell, tDCMCtl
INFO   tKRC       17:25:50.071 : WARN_SPAWN_WITHOUT_FP_SUPPORT = 1
modul size file can not be opened

KBD: "Normaler" Kaltstart!
BASIC  tSysBoot   17:25:51.666 : SysBoot: State APPLICATION_CREATED reached !
INFO   KAF_HMI    17:25:51.714 : M_1449: "$COOP_KRC[1] Variable schreibgeschützt"
BASIC  tSysBoot   17:25:51.724 : SysBoot: State SERVICES_STARTED reached !
BASIC  tSysBoot   17:25:51.985 : SysBoot: State DATA_REGISTERED reached !
ERROR  dCommServi 17:25:52.008 : Could not get Persistor Service
BASIC  tSysBoot   17:25:53.241 : SysBoot: State DATA_ATTACHED reached !
ERROR  tKRC       17:25:53.244 : int CConnectionData::getConnectionDescription(CConnectionDescription*): sendAndReceiveNameServerRequest () returned -10
ERROR  tKRC       17:25:53.294 : ConnClient: initialize() failed (EConnectionError: -14)
ERROR  tKRC       17:25:53.304 : int CConnectionData::getConnectionDescription(CConnectionDescription*): sendAndReceiveNameServerRequest () returned -10
ERROR  tKRC       17:25:53.354 : ConnClient: initialize() failed (EConnectionError: -14)
ERROR  tKRC       17:25:53.387 : int CConnectionData::getConnectionDescription(CConnectionDescription*): sendAndReceiveNameServerRequest () returned -10
ERROR  tKRC       17:25:53.437 : ConnClient: initialize() failed (EConnectionError: -14)
ERROR  tKRC       17:25:53.447 : int CConnectionData::getConnectionDescription(CConnectionDescription*): sendAndReceiveNameServerRequest () returned -10
ERROR  tKRC       17:25:53.497 : ConnClient: initialize() failed (EConnectionError: -14)
ERROR  tKRC       17:25:53.507 : KRC: Cannot connect to driver client: Kcp3Driver
BASIC  tSysBoot   17:25:53.671 : SysBoot: State DATA_CONNECTED reached !
WARN   tKRC       17:25:53.676 : CKRC::initializeRdcAccess(): Could not retrieve persister.
INFO   KAF_OBJH   17:25:55.746 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:25:55.746 : M_5001: "Datei geändert //$CUSTOM.DAT"
INFO   KAF_OBJH   17:25:55.755 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:25:55.755 : M_5001: "Datei geändert //$OPTION.DAT"
INFO   KAF_OBJH   17:25:55.778 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:25:55.778 : M_5001: "Datei geändert //$MACHINE.DAT"
INFO   KAF_OBJH   17:25:55.900 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:25:55.900 : M_5001: "Datei geändert /R1/$ROBCOR.DAT"
INFO   KAF_OBJH   17:25:55.986 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:25:55.986 : M_5001: "Datei geändert /R1/$MACHINE.DAT"
INFO   KAF_OBJH   17:25:56.229 : M_1421: "/R1/bas : 4 Fehler bei Analyse"
INFO   KAF_OBJH   17:25:56.264 : M_1421: "/R1/BrakeTestReq : 6 Fehler bei Analyse"
INFO   KAF_OBJH   17:25:56.271 : M_1421: "/R1/BrakeTestSelfTest : 1 Fehler bei Analyse"
INFO   KAF_OBJH   17:25:56.309 : M_1421: "/R1/masref_main : 6 Fehler bei Analyse"
INFO   KAF_OBJH   17:25:56.423 : M_1421: "/R1/sps : 1 Fehler bei Analyse"
INFO   KAF_OBJH   17:25:56.519 : M_1421: "/R1/tm_bib : 1 Fehler bei Analyse"
INFO   INITTASK   17:25:56.805 : Compiler runtime: 1.240 s
ERROR  INITTASK   17:25:57.019 : CRobotInfo::writeInfoFile: SerialNumber or RobotTypeName are not valid.
ERROR  INITTASK   17:25:57.019 : CKRC::writeRobotInfoToRdc(): Info File cannot be written!
INFO   INITTASK   17:25:57.022 : CLT_MOTTORQ:     $ROBCOR.DAT:    Die Motor XML-File-Kennlinie von Achse 1 wird direkt verwendet!
INFO   INITTASK   17:25:57.022 : CLT_MOTTORQ:     $ROBCOR.DAT:    Die Motor XML-File-Kennlinie von Achse 2 wird direkt verwendet!
INFO   INITTASK   17:25:57.022 : CLT_MOTTORQ:     $ROBCOR.DAT:    Die Motor XML-File-Kennlinie von Achse 3 wird direkt verwendet!
INFO   INITTASK   17:25:57.022 : CLT_MOTTORQ:     $ROBCOR.DAT:    Die Motor XML-File-Kennlinie von Achse 4 wird direkt verwendet!
INFO   INITTASK   17:25:57.022 : CLT_MOTTORQ:     $ROBCOR.DAT:    Die Motor XML-File-Kennlinie von Achse 5 wird direkt verwendet!
INFO   INITTASK   17:25:57.022 : CLT_MOTTORQ:     $ROBCOR.DAT:    Die Motor XML-File-Kennlinie von Achse 6 wird direkt verwendet!
INFO   INITTASK   17:25:57.023 : Fehler beim RDC-Zugriff: 1!!
BASIC  tSysBoot   17:26:03.948 : SysBoot: State WAIT_FOR_SYNC reached !
BASIC  tSysBoot   17:26:03.948 : void CSystem::checkPMSConnection(): PMS connected
BASIC  tSysBoot   17:26:03.957 : SysBoot: Stable State RUNNING reached !
INFO   dKRC       17:26:03.957 : Meldung Nr. M_14014 abgesetzt
INFO   tMELD      17:26:03.958 : M_14014: "CIFS wird initialisiert"
INFO   dKRC       17:26:03.959 : Meldung M_14014 zurückgenommen
INFO   tZYK_preIP 17:26:04.392 : Meldung Nr. M_200 abgesetzt
INFO   tMELD      17:26:04.392 : M_200: "Antriebe nicht bereit"
INFO   KAF_HMI    17:26:04.392 : Meldung Nr. M_306 abgesetzt
INFO   tMELD      17:26:04.392 : M_306: "Anwahl aktiv"
INFO   KAF_HMI    17:26:04.394 : Meldung M_306 zurückgenommen
INFO   S_INT      17:26:04.412 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:26:04.412 : M_5001: "Datei geändert /R1/tm_bib.DAT"
INFO   S_INT      17:26:04.414 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:26:04.414 : M_5001: "Datei geändert /R1/$CONFIG.DAT"
INFO   tZYK_preIP 17:26:04.428 : Meldung M_200 zurückgenommen
INFO   tZYK_preIP 17:26:04.428 : Meldung Nr. M_220 abgesetzt
INFO   tMELD      17:26:04.428 : M_220: "Antriebe aus, Zwischenkreisspannung ..."
INFO   tZYK_preIP 17:26:04.440 : Meldung M_220 zurückgenommen
INFO   ADS_IN     17:26:04.458 : CROSS '192.168.0.1 @ 12292' hat die Verbindung hergestellt
INFO   ADS_IN     17:26:04.458 : Meldung Nr. M_5002 abgesetzt
INFO   tMELD      17:26:04.458 : M_5002: "Fastboot Event"
INFO   ADS_IN     17:26:04.458 : Meldung Nr. M_3166 abgesetzt
INFO   tMELD      17:26:04.458 : M_3166: "Initialer Steuerungskaltstart"
INFO   S_INT      17:26:06.237 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:26:06.237 : M_5001: "Datei geändert /R1/$CONFIG.DAT"
INFO   S_INT      17:26:06.307 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:26:06.307 : M_5001: "Datei geändert /R1/tm_bib.DAT"
INFO   KFI        17:26:06.347 : M_2047: "Objekt nicht vorhanden"

Seriallogging already OFF!
RdcMemoryArchive::writeBinaryFileToRdc: Fehler.
INFO   KFI        17:26:23.152 : M_2047: "Objekt nicht vorhanden"
INFO   KFI        17:26:23.293 : M_2047: "Objekt nicht vorhanden"
INFO   S_INT      17:26:43.281 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:26:43.281 : M_5001: "Datei geändert /R1/$CONFIG.DAT"
INFO   S_INT      17:26:43.368 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:26:43.369 : M_5001: "Datei geändert /R1/tm_bib.DAT"
INFO   S_INT      17:26:47.864 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:26:47.864 : M_5001: "Datei geändert /R1/$CONFIG.DAT"
INFO   S_INT      17:26:47.928 : Meldung Nr. M_5001 abgesetzt
INFO   tMELD      17:26:47.929 : M_5001: "Datei geändert /R1/tm_bib.DAT"

进而可以分析出更多的信息,感兴趣的朋友可以和我私下用电子邮件交流。

扩展阅读:

7 thoughts on “KUKA KRC4 启动时都发生了什么

  1. KUKA ProConOS 是什么,怎么运作,可不可以对KUKA机器人的运动进行修改

  2. 你好!我在启动KRC时RTOS启动失败是什么情况,错误信息:
    ERROR:OS Configuration (0) – invalid bits (0x2) set in Rtos processor mask!
    OS configuration validate: (0x000010a4) – Rtos Configuration setup failed
    uploader return code: 0x000010a4
    Press any key to continue

    请问各位大神知道怎么回事吗?

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