KRC1 V2.3.24 SP07
GUI VERSION V2.3.33
KERNEL SYSTEM VERSION KS V2.76_23
ROBOT TYPE #KR15_1 floor ZH01
R1 Mada V14.4.0/KUKA 2.3
I am trying to communicate with a laptop through serial port 2 of the krc1. I used adaptor from 25-pin to 9-pin to usb and the cables and adapters seem fine, I checked for signals. In linux I can detect the adapter connected now to /dev/ttyUSB0 as a serial port. I use cutecom to see what bytes the robot sents.
the settings are baud 9600, data bits=8, stop bit=1, parity even and I have enabled xonxoff software handshake and hardware handshake
kuka side inside the serial.ini for serial port 2:
[COM2]
BAUD=9600
CHAR_LEN=8 ; 7,8
STOP_BIT=1 ; 1,2 at time not changeable
PARITY=2 ; EVEN=2, ODD=1, NONE=0
PROC=1 ; 3964R=1, SRVT=2, WTC=3
[3964R]
CHAR_TIMEOUT=500 ; msec
QUITT_TIMEOUT=500 ; msec
TRANS_TIMEOUT=2000 ; msec
MAX_TX_BUFFER=2 ; 1..5
MAX_RX_BUFFER=10 ; 1..20
SIZE_RX_BUFFER=100 ; 1..2048
PROTOCOL_PRIOR=1 ; HIGH=1, LOW=0
and the xon xoff have the standard values (i checked). hw_inf.ini is also ok
i use the attached code and i get weird results:
cutecom doesnt print anything
and in the message window i see:
HANDLE = 2
Y= 1
SER_WRITE: CMD_ABORT 0
Y= 2
SER_WRITE: CMD_OK 0
Y= 3
SER_WRITE: CMD_OK 0
Y= 4
SER_WRITE: CMD_ABORT 0
Y= 5
SER_WRITE: CMD_ABORT 0
SER_CLOSE: CMD_OK 0
I cant understand why the write function returns CMD_OK since noone is fulfilling the protocol and i also cant understand why cutecom cant find the first character STX. Any thoughts?