Hello all
I've decided to post some advices to make an xml server which control kuka by external PC, to help who as this problem.
1) I suppose you've already installed your ethernet device and the software XML in your KRC (if not, you should to read the RSI-XML manual, you'll find all that you want to know about hardware and software).
2) You have to make a program (for example C) to send and receive data from the robot. Your program could run on the KRC or on the external PC (in this case you must change the IP address in your src file).
3) You could make your program in several mode. I tell you what we've done.
I) server start and read the Externaldata.xml file and load it as a binary file, for example data_send.
II) You have to connect your program to the ST_COROB using TCP (in C we've used winsock). ST_COROB is a normal client so your program has to start and wait the connection as a server.
III) After the server connected, the ST_COROB send an XML string like the file KRCdata.xml.
So you shold write a recv() and you could save it as a normal vector string. After that, take the IPOC string saved in the vector and put in the data_send and send by TCP to the ST_COROB as a normal string. Your server has to receive IPOC and send data_send continusly. If you see in erxdemo.src the message "communication error 12" you will have send and receive faster in your server because a time-out occurred.
IV) To move the robot you could send the same data_send changing <RKorr .... \> or <AKorr .....\> and kuka will run with Korr/0.012 speed.
I hope this will help you.
Goodbye everybody!
puma
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