hi all,
i have kuka kr6 r900 with krc4 compact controller and i need to control the kuka by PC then i follow this link:https://github.com/AytacKahveci/KukaRosOpenCommunication, in this link thers is some steps i follow one of this steps is to use KUKAVARPROXY and he mention to make the PC and the krc4 in the same subnet. the question is:
1- when i connect my PC to krc4 controller with Ethernet i found many Ethernet sockets (Koni, KUKA Line Interface X66, X65 EtherCAT interface, X69 KUKA Service Interface) in the krc 4 which one should i use?
2- when i search for the robot ip to connect with the pc to be the same subnet i found many ip, which one should i use?
i attach the photos for my krc4 and a snapshot for the ip's i found.
thanks for help 
Kuka krc4 with KUKAVARPROXY
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ehabhti -
September 17, 2018 at 9:19 PM -
Thread is Resolved
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Generally, the KLI port is the only one available for external interfacing (KONI is dedicated to Vision camera connections, as far as I know, and the FRI is a very specialized technology for high-speed realtime control).
When you open the Network Config menu of the KRC4, you are controlling the settings of the KLI port. Make sure to check the "forbidden subnets" tab, as there are at least three subnet ranges reserved for the robot's internal use.
Once you have set the KLI's IP and Netmask to something compatible with your computer, you should be able to ping that IP from the computer, for your first connectivity test.
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I would try x66 port. From my experience, anything with a 192.168.x.x is reserved for kuka and never change those values! I’ve connected my PC to Kuka to share files using x66. I thought about using openshowvar, but stuck with kuka approved tech packages.
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