Fanuc Karel Server, MSG_CONNECT exits with status 67206 without blocking

KlausSu · Apr 18th 2019

Hello,

I am trying to establish a tcp/ip connection between a Fanuc robot (with a R30iB controller) and a PC. For that purpose we are using a simple karel program, which is working fine with Roboguide. The server tag is configured as SM with status defined/started (we tried both) and the variable $HOSTS_CFG[3].$SERVER_PORT is set to 5005. Anyway if we try that on the real robot, the line with the msg_connect command is not blocking at all and exits with status 67206.

Code

PROGRAM test_conn


%NOLOCKGROUP  --  task will not attempt to get motion control

VAR
	file_var : FILE
	status : INTEGER
	entry : INTEGER
	bytes_ready : INTEGER
	msg : STRING[5]

BEGIN
	-- force and clean user screen
	WRITE(CHR(127), CHR(128)) 
 	FORCE_SPMENU(TP_PANEL, SPI_TPUSER, 1)  

	-- start server
	SET_FILE_ATR(file_var, ATR_IA)  -- write interactively 

	WRITE('Server: Connecting..',CR)
	MSG_DISCO('S3:',status)
	MSG_CONNECT('S3:',status)
	WRITE('Server: Connect Status = ',status,CR)

	MSG_DISCO('S3:',status)
	WRITE('Server: status diconnect: ', status, CR)
	WRITE('Server: Done.',CR)
END test_conn

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Does anyone have an idea what the problem could be or what the status code 67206 means? I tried to find some information in the manuals and also contacted Fanuc's support. Unfortunatly I am running out of ideas what I could try, so I would be thankful for any hint!

Nation · Apr 18th 2019

67206 is HOST-206, which means:

SM: Bad Port Number
Cause: The system variable $server_port in the Client tag or the host tag was invalid.
Remedy: Set the $hosts_cfg[n].$server_port sysvar for the server tag or $hostc_cfg[n].$server_port for the client to a valid
number."

Edit: How I looked this up:

Karel error codes are always setup like this: FFFEEE, where FFF is the facility code, which can range from 1 to 3 numbers, and EEE, which is the error code, which is always 3 numbers.

You can look up the Facility code number in table 1-8 in the error code manual. In this case, the faciltiy code was 67, which according to the table is HOST.

KlausSu · Apr 18th 2019

Thank you very much! I haven't solved the problem yet, but hopefully I will now be able to identify the problem.

MIRobotGuy · Jun 21st 2019

Hello,

I see that you are having the same issues I was with deciphering the status codes.

I wrote an excel sheet that I think will help you in the future...
https://www.robot-forum.com/ro…c-karel-status-converter/

I hope it helps,
MiRobotGuy

Jarrid Fraley · Aug 9th 2021

I am having the same issue with connection on the server side. I am using a simple c# server I created. I can write the data to the server from the robot in roboguide but the robot is not reading the data. Any thoughts? I am getting 67216 fault which tells me this

Code

A request was received for a socket which is invalid.

mahboobelahi93 · Sep 27th 2021

Hello, Nation

Where i find the Karel error codes list?

I am trying to establish a socket-based server-client communication between robot and PC. I have a FANUC LR-Mate200Di robot but currently, I am using Roboguide for testing and I am able to successfully exchange strings between robot and PC. For this case, Robot is a server and the client is a python socket app.

I am facing a problem when a client (py app) tries again to connect the socket server and got the following error msg on the python side."

s.connect((HOST, PORT))

ConnectionRefusedError: [WinError 10061] No connection could be made because the target machine actively refused it

I do not understand why this is happening as far as I understand "socket server is configured on robot and it is started and KAREL program which is responsible for handling this communication is running which means the server is listening for a new connection from the client but my client is not able to connect again to server"

Furthermore, according to the KAREL manual, I am using "MSG_DISCO('S3:', STATUS)" utility to close the current connection with the client after receiving data from the client and again opens new connect but client still does not connect. Following are the KAREL status code that i received:

Disconnect: 67208

Connect: 67215

Thanks

Code

PROGRAM cont_msg

%STACKSIZE = 4000
%COMMENT =  'Countinous Message Transfer'
%NOLOCKGROUP
%NOPAUSE=ERROR+COMMAND+TPENABLE
%ENVIRONMENT uif
%ENVIRONMENT sysdef
%ENVIRONMENT memo
%ENVIRONMENT kclop
%ENVIRONMENT bynam
%ENVIRONMENT fdev
%ENVIRONMENT flbt
%INCLUDE klevccdf
%INCLUDE klevkeys
%INCLUDE klevkmsk
---------------------------------------------------------------------------------------------------------------
--DECLARACION DE VARIABLES
    VAR
        ARCHIVO2 : FILE
        TMP_INT : INTEGER
        TMP_INT1 : INTEGER
        TMP_STR : STRING[128]
        TMP_STR1 : STRING[128]
        STATUS : INTEGER
        ENTRY : INTEGER
        loop1 : BOOLEAN
---------------------------------------------------------------------------------------------------------------
BEGIN
    -- clear the TPERROR screen
    WRITE TPERROR(CHR(128))
    --WRITE(CR)
    WRITE('DISCONNECTING..',CR)
    MSG_DISCO('S3:',STATUS)
    WRITE('DONE .',STATUS,CR)
    SET_FILE_ATR(ARCHIVO2, ATR_READAHD)--ATR_IA
    --SET THE SERVER PORT BEFORE DOING A CONNECT
    SET_VAR(ENTRY, '*SYSTEM*', '$HOSTS_CFG[3].$SERVER_PORT', 1162, STATUS)
    WRITE('CONNECTING..',CR)
    --OPEN CONNECTION
    MSG_CONNECT('S3:', STATUS)
    WRITE(' CONNECT STATUS= ',STATUS,CR)
    loop1 = TRUE
    --connectted or not 
        IF STATUS = 0 THEN
              WRITE('Opening File...',CR)
             OPEN FILE ARCHIVO2 ('RW','S3:')
             STATUS = IO_STATUS(ARCHIVO2)
             WRITE('File_IO_Status=',STATUS,CR)
             --FILE OPEN is success OR NOT
             IF STATUS = 0 THEN
                WHILE loop1 = TRUE DO
                        --send msg to client
                        TMP_STR = 'RunJob'
                        WRITE ARCHIVO2(TMP_STR)
                        WRITE('Wrote: ',TMP_STR,CR)
                        WRITE('Waiting to read from client...',CR) 

                            --reading from client
                            BYTES_AHEAD( ARCHIVO2, ENTRY,STATUS)
                            
                            IF  NOT UNINIT(ENTRY)THEN
                                   WRITE('READING',CR)
                                WRITE(ENTRY,CR)
                                
                                IF ENTRY >0 THEN
                              READ ARCHIVO2 (TMP_STR::ENTRY)
                        status = IO_STATUS(ARCHIVO2)
                        WRITE('Read status: ',status,CR)
                        WRITE('Read: ',TMP_STR,CR)
                                    
                                ENDIF

                            ELSE
                                WRITE('UNINITIALIZE DATA...',CR)
                    WRITE('DISCONNECTING SERVER...',CR)
                    MSG_DISCO('S3:',STATUS)
                    WRITE('DONE. ',STATUS,CR)
                    WRITE('CONNECTING...',CR)
                    --OPEN CONNECTION
                    SET_VAR(ENTRY, '*SYSTEM*', '$HOSTS_CFG[3].$SERVER_PORT', 1162, STATUS)
                    MSG_CONNECT('S3:', STATUS)
                    WRITE(' CONNECT STATUS= ',STATUS,CR)
                             --WRITE('DISCONNECTING..',CR)
                    --MSG_DISCO('S3:',STATUS)
                    --WRITE('DONE.',CR)
                                --loop1 = FALSE
                    --WRITE('Closed file.',CR)
                    --CLOSE FILE ARCHIVO2                                
                         ENDIF
                DELAY 6000
                ENDWHILE
                    ELSE
                WRITE('Error opening file',CR)
                loop1 = FALSE
                WRITE('Closed file.',CR)
                CLOSE FILE ARCHIVO2    
         ENDIF
      ENDIF

END cont_msg

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Fanuc Karel Server, MSG_CONNECT exits with status 67206 without blocking

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