SRCI

Abbreviation

Abbreviation	Description
SRCI	Standard Robot Command Interface
EDK	Easy Development Kit, a SRCI protocol parser provided by Siemens.
RI	Robot Interface, the status of which indicates if the SRCI communication has already been established.
RA	Robot Arm
RC	Robot Controller
TCP	Tool Center Point
TCS	Tool Coordinate System
UCS	User Coordinate System
WCS	World Coordinate System
WCP	Wrist Center Point
M/O	Mandatory/Optional

Introduction

SRCI is an open standard protocol developed and maintained by PROFINET International. SRCI runs over the PROFINET industrial Ethernet-based communication protocol, therefore SRCI deployment and use requires PROFINET. SRCI offloads the complete integration of a robotic application, including programming, to the PLC. SRCI in essence provides an interface that allows users to program and control a robot directly in a PLC. SRCI standardizes the use of data packets and PLC libraries, enabling users to freely and rapidly switch between different robots without having to re-learn, re-program and re-deploy.

robot interface concept

Note:

The level of supported SRCI functions and parameters is determined by the type of SRCI certification the released version of the SRCI interpreter has achieved (i.e Limited Release or Broad Release). JAKA's interpreter has been certified for Broad Release and supports all parameters and functions that are included within the "Profile:Core". Please read the following content carefully, and pay special attention to the Risks part.

Hardware and Software Check

• JAKA side
  • Robot Hardware: no limit（please switch PROFINET ON）.
  • The PROFINET GSDML must be upgraded to GSDML-V2.41-JAKA-JAKARobot-20231017.xml.
  • Robot Controller: v3.3.13 and above (the controller must be X64 version).
  • App: v3.3.7 and above.
• PLC side
  • Siemens SIMATIC S7-1500 PLC and above, for example: Siemens 1516-3 PN/DP.
  • The utilized PLC must support PROFINET.

Functions Supported on Different Versions

SRCI defines 3 function groups, which contain the functions of all interfaces:

Profile Core	Profile Extended	Profile Optional
Contains core functions of the interface Contains basic commands	Contains all mandatory commands that are not featured by Profile Core	Contains all optional functions

featureGroup

"Profile: Core" supported functions and parameters

The list below details the functions supported by JAKA's Broad Release certified "Profile: Core" interpreter:

• ChangeSpeedOverride

• EnableRobot

• ExchangeConfiguration

• GroupContinue

• GroupInterrupt

• GroupJog

• GroupReset

• GroupStop

• MoveAxesAbsolute

• MoveDirectAbsolute

• MoveLinearAbsolute

• ReadActualPosition

• ReadActualPositionCyclic

• ReadToolData

• ReadFrameData

• ReadLoadData

• ReadMessages

• ReadRobotData

• ReadRobotDefaultDynamics

• ReadRobotReferenceDynamics

• ReadRobotSWLimits

• ReturnToPrimary

• SetOperationMode

• SetSequence

• WriteToolData

• WriteFrameData

• WriteLoadData

• WriteRobotDefaultDynamics

• WriteRobotReferenceDynamics

• WriteRobotSWLimits

Limitations

Please read through these limitations before using SRCI commands：

• When using the MoveLinearAbsolute command, if the ConfigMode of the target point is inconsistent with that of the current point, it will become unreachable and the enable will be disabled.

• When using the WriteRobotSWLimits instruction, the manual/automatic mode will be switched. Try to set it in external T1 mode.

• LoadData[0] is the default and cannot be set via WriteLoadData. If the default load on the app is not zero, the data of LoadData[0] will fail to synchronize.

• Unsupported functions:

  • CreateServerLog
  • ReadServerLog
  • CreateClientLog
  • ReadClientLog
  • Part of UserData function: DelayTime, InterpreterCycleTime, Accelerating, ConstantVelocity, IsBlending

Risks

JAKA Safety IO

Work with JAKA safety IO functions to ensure operator safety. JAKA's SRCI interpreter supports the following safety functions（external safety IO）：

1. Additional emergency-stop
2. Additional protective-stop
3. Reduced mode（able to set robot TCP speed, power limit, etc. ）
   

Commands Descriptions

Note:

√: supported as SRCI required.
×: not supported.
!: supported with conditions.

ChangeSpeedOverride

• ChangeSpeedOverride affects all move commands except GroupJog and FreeDrive.
• Can be set during a movement.
• Automatically reverts to 5% of the allowed speed after RI initialization.

Inputs

Parameter	Data Type	Unit	M/O	Note
Override	REAL	[%]	M	√

EnableRobot

• JAKA allows to Power On/Off and Enable/Disable the robot separately.
• Power On the robot before Enable; Disable the robot before Power Off.
• Enabling the robot means that the robot is ready to receive commands.

In normal conditions, the EnableRobot command takes 5 seconds to take effect.

However in a situation where the robot is in an emergency stop state, 5 seconds extend to 20 seconds. This is because Powering On the robot is the prerequisite for Enabling the robot. In normal conditions, Power On has been completed during the first enable, so the user can directly Enable the robot to assume its control. In a situation of an emergency stop taking effect, the robot is in a power-off state, and it will not automatically power back on. Therefore when the Enable command is send again, the robot will first Power On itself (during the first 15 seconds) and then the Enable command will be executed (in the remainig 5 seconds).

Inputs

Parameter	Data Type	Unit	M/O	Note
HoldToRun	BOOL	-	M	√
StepMode	USINT	-	M	! Only support 0 and 2
ManualStep	BOOL	-	M	√

Outputs

Parameter	Data Type	Unit	M/O	Note
Enabled	BOOL	-	M	√

GroupContinue

This function can continue executing an "interrupted" move command.

GroupInterrupt

This function interrupts all active commands and stops all joints. Yet the planned trajectory will remain, which could be resumed by GroupContinue.

JAKA supports jogging when GroupInterrupt, and sequence 2 may use automatically.

GroupStop has higher priority than GroupInterrupt, which would end GroupInterrupt when called.

GroupJog

GroupJog includes: JogFrame, JogTool and JogAxes.

JAKA supports them all.

GroupReset

• It deletes all messages read by ReadMessages, including errors and warnings.
• The main scenarios:
  • controller error, like pstop (protective-stop)
  • the AddOn's SRCI malfunctions

GroupStop

Clear the move commands for the current active sequence and empty the move command cache.

MoveAxesAbsolute

This function commands a movement of the robot without a defined path.

Inputs

Parameter	Data Type	Unit	M/O	Note
JointPosition	RobotJointPosition	-	M	！not support external axis
VelocityRate	REAL	[%]	M	√
AccelerationRate	REAL	[%]	M	√
DecelerationRate	REAL	[%]	O	×
JerkRate	REAL	[%]	O	×
ToolNo	USINT	-	M	support 0-15, default 0: flange
AbortingMode	USINT	-	M	√
BlendingMode	USINT	-	M	！refer to blending sectoin
BlendingParameter	ARRAY[0..1] of REAL	-	M	√

MoveDirectAbsolute

This function calculates the fastest path to the target position (joint position) based on the provided Cartesian coordinates, with the target position calculated according to the ConfigMode's ConfigParameters.

Inputs

Parameter	Data Type	Unit	M/O	Note
Position	RobotCartesian Position	-	M	！not support external axis
VelocityRate	REAL	[%]	M	√
AccelerationRate	REAL	[%]	M	√
DecelerationRate	REAL	[%]	O	×
JerkRate	REAL	-	O	×
ToolNo	USINT	-	M	support 0-15, default 0: flange, -1: current
FrameNo	USINT	-	M	support 0-15, default 0: World, -1: current
AbortingMode	USINT	-	M	√
BlendingMode	USINT	-	M	！refer to blending sectoin
ConfigMode	ConfigParameters	-	M	！refer to mechanical constraction sectoin
TurnMode	USINT	-	M	! Only support 2

MoveLinearAbsolute

This function commands an interpolated linear movement on the robot arm from the actual position of the TCP to an absolute cartesian position in the specified coordinate system.

Inputs

Parameter	Data Type	Unit	M/O	Note
Position	RobotCartesian Position	-	M	！not support external axis
VelocityRate	REAL	[%]	M	√
AccelerationRate	REAL	[%]	M	√
DecelerationRate	REAL	[%]	O	×
JerkRate	REAL	-	O	×
ToolNo	USINT	-	M	support 0-15, default 0: flange
FrameNo	USINT	-	M	support 0-15, default 0: world
AbortingMode	USINT	-	M	√
BlendingMode	USINT	-	M	！refer to blending sectoin
ConfigMode	ConfigParameters	-	M	！refer to mechanical constraction sectoin
TurnMode	USINT	-	M	！ Only support 2

ReadActualPosition

This function reads the current position of the TCP relative to the currently used coordinate system.

Inputs

Parameter	Data Type	Unit	M/O	Note
ToolNo	INT	-	M	！ support 0-15, -1: current
FrameNo	INT	-	M	！ support 0-15, -1: current

Outputs

Parameter	Data Type	Unit	M/O	Note
Position	RobotPosition	-	M	√

ReadFrameData

The function reads the user-defined coordinate system settings based on the FrameNumber.

Inputs

Parameter	Data Type	Unit	M/O	Note
FrameNo	INT	-	M	! support 0-15, -1: current

ReadLoadData

The function reads the payload data based on LoadNo.

Inputs

Parameter	Data Type	Unit	M/O	Note
LoadNo	INT	-	M	! support 1-15, -1: current

Outputs

Parameter	Data Type	Unit	M/O	Note
LoadData	LoadData	-	M	! support X, Y, Z and Mass

ReadRobotDefaultDynamics

The function reads the default values of the robot dynamics.

Outputs

Return to DefaultDynamics, the structure is as follows:

Parameter	Data Type	Unit	M/O	Note
VelocityRate	REAL	[%]	M	√
AccelerationRate	REAL	[%]	M	√
DecelerationRate	REAL	[%]	O	×, return -1
JerkRate	REAL	[%]	O	×, return -1

ReadRobotReferenceDynamics

The function reads the references values of the robot dynamics.

Outputs

Return to DefaultDynamics, the structure is as follows:

Parameter	Data Type	Unit	M/O	Note
VelocityReference	REAL	[mm/s]	M	√
AccelerationReference	REAL	[mm/s2]	M	√
DecelerationReference	REAL	[mm/s2]	O	×
JerkReference	REAL	[mm/s3]	O	×

ReadRobotSWLimits

The function reads the positive and negative soft limits of the robot.

Outputs

Return to DefaultDynamics, the structure is as follows:

Parameter	Data Type	Unit	M/O	Note
J1LowerLimit, J1UpperLimit ~ J6LowerLimit, J6UpperLimit	REAL	[mm/s]	M	√
E1LowerLimit, E1UpperLimit ~ E6LowerLimit, E6UpperLimit	REAL	[mm/s]	M	×

ReadToolData

The function reads the configuration of the tool coordinate system based on ToolNumber.

Inputs

Parameter	Data Type	Unit	M/O	Note
ToolNo	USINT	-	M	! Only support 1~15

Outputs

Parameter	Data Type	Unit	M/O	Note
ToolData	ToolData	-	M	√

WriteFrameData

This function writes the data of the user coordinate system based on FrameNo.

Inputs

Parameter	Data Type	Unit	M/O	Note
FrameNo	USINT	-	M	！Only support 1~15
FrameData	FrameData	-	M	√

referenceFrame should not be an user coordinate system which has already used referenceFrame (not 0).

WriteLoadData

This function writes the payload data based on LoadNo.

Inputs

Parameter	Data Type	Unit	M/O	Note
LoadNo	USINT	-	M	! Only support 1~15
LoadData	LoadData	-	M	! Only support X, Y, Z and Mass

WriteRobotDefaultDynamics

The function writes default values of the robot dynamics.

Inputs

Parameter	Data Type	Unit	M/O	Note
VelocityRate	REAL	[%]	M	√
AccelerationRate	REAL	[%]	M	√
DecelerationRate	REAL	[%]	O	×
JerkRate	REAL	[%]	O	×

WriteRobotReferenceDynamics

The function writes reference values of the robot dynamics.

Parameter	Data Type	Unit	M/O	Note
VelocityRate	REAL	[%]	M	√
AccelerationRate	REAL	[%]	M	√
DecelerationRate	REAL	[%]	O	×
JerkRate	REAL	[%]	O	×

WriteToolData

This function writes the data of the user coordinate system based on ToolNo.

Inputs

Parameter	Data Type	Unit	M/O	Note
ToolNo	USINT	-	M	! Only support 1~15
ToolData	ToolData	-	M	√

WriteRobotSWLimits

The function writes the positive and negative soft limits of the robot.

Inputs

Parameter	Data Type	Unit	M/O	Note
J1LowerLimit, J1UpperLimit ~ J6LowerLimit, J6UpperLimit	REAL	[mm/s]	M	√
E1LowerLimit, E1UpperLimit ~ E6LowerLimit, E6UpperLimit	REAL	[mm/s]	M	×

Implementation

Authorization

1. Please contact Siemens local sales team regarding SIMATIC PLC and TIA licenses, TIA demos, SIMATIC PLC and TIA manuals.
2. Please contact JAKA local sales team regarding JAKA manuals and JAKA GSDML file.

Preparing for connection

1. Please switch the Controller's PROFINET connection ON；

Profinet config

2. Restart the controller;

3.Switch the control source to external communication control.

Switch the control source

Prepare PLC

1. Initialize the SD card (when downloading programs from the Siemens PLC to a new SD card, users need to reset the SD card's memory first. Otherwise the password might be needed).
2. Import the correct JAKA GSDML file.
3. Configure PROFINET.

PLC config

4. Set the IO cycle "Update time" for the PROFINET communication under the "Real time seetings" to 8ms (miliseconds).
   
5. Set the Cyclic interrupt time to 8ms (miliseconds).
   
6. When configuring the SRCI data, it is essential to ensure the alignment of the data's starting address with the starting address provided by RobTask. Failure to do so may result in initialization issues.

address mapping 1

address mapping 2

Troubleshooting

General debug steps:

1. Check if the version of the controller you are using.
2. Check if the control source is communication control.
3. Check if PROFINET is running properly（the PLC must use the correct JAKA GSDML）
4. Make sure that PLC PROFINET data is configured correctly.
5. If the above steps still don't work, please contact JAKA technical support team（send an email to SRCI.Support@jaka.com, attaching Addon exported files）.

diagnosis

Follow the steps below to troubleshoot when SRCI communication fails:

1. Make sure that PROFINET communication between your JAKA robot and the PLC is estalished and functioning properly.
2. Make sure the PLC configuration is correct.
3. If the communication often disconnects, please check whether the switch meets PROFINET requirements; or connect the PLC directly to the control cabinet.
4. If PROFINET is connected and functoning properly, then the issue lyes with SRCI.
5. If an HMI simulation is required, please proceed with "Set PG/PC Interface" within your Windows Control Panel settings.

PG-PC Interface 1

Under “Access Point of the Application”, select “S7ONLINE (STEP 7)”.

Under “Interface Parameter Assignment Used”, locate and select “your network adapter>.TCPIP.1”.

Your network adapter will be different depending on the WiFi NIC or wired ethernet NIC of the connection you are utilising.

To verify whether the desired selection has been saved and is in use, look for the tag Active next to the network adapter you selected.

Please contact Siemens for any further detailed information.

PG-PC Interface 2

Debug steps when the robot fails to move：

1. Check the "overridespeed" parameter.
2. Check the velocity setting within "defaultDynamic" and "referenceDynamic".
3. Check the velocity and acceleration parameters of the command.
4. Check if the robot is already in Interrupted status.

Appendix

JAKA Robot Arm SEW Description

Parameter	Data Type	Unit	M/O	Note
Shoulder	USINT	-	M (support default 0)	support 0-use config and 1-no change
Elbow	USINT	-	M	same as above
Wrist	USINT	-	M	same as above

The configuration of collaborative robots generally differs from industrial robots, especially in that the 4-5-6 axes do not intersect at a single point. In other words, there is no traditional Wrist Center Point (WCP) as found in industrial robots. Typically, the intersection points of the 4-5 or 5-6 axes are used instead.

• shoulder
  

• elbow
  

• wrist
  w = sin (axis5)

JAKA Blending:

Blending diagram：

Supported situation for now：

• joint to joint
• joint to linear
• linear to linear
• linear to joint

To enable blending, make sure to set the parameters in usersetting.ini as below (No modifications are needed by default.):

• MOVEJ_MOVEL_BLEND = 1
• MOVEJ_MOVEJ_BLEND = 1

Supported BlendingMode：0(Exact Stop) and 4(MaxCornerDeviation)