I am currently investigating timing issues in an ETHERNETRSIXML TCP connection, and have a question regarding the behavior of the parameters of the `ST_ETHERNET` object.
I am referencing the manual "KUKA.Ethernet RSI XML 1.2 V2 en", issued 25.02.2008 (our software version is V5.6.12).
I have a working RSI link to our robot and am able to stream corrections that the robot then executes. The server is written in Python, and is running on a Windows 10 machine.
Timing the python server loop from message reciept to message transmission shows the loop as within the required 12ms, but I recognize that the time at the client side (the robot) will necessarily be longer.
When running programs, the RSI link will periodically fail with the error: SEN: RSI Execution Error - RSI stopped. Perusing the log at C:\KRC\ROBOTER\LOGS\RSIerrors.log shows the following lines:
01.07.20 16:52:01 Error: ERX: Defined timeout limit was reached. Answer from server missed!
01.07.20 16:52:01 Error: Executing object 1000000
I am unsure how the RSI link is failing, and want to place the failure in context of the parameters governing the RSI link on the robot side, as explained by manual page 48/83 (see attached). How can I determine if this failure is due to consecutive late packages (eERXmaxLatePackages), or an overall percentage of late packages (eERXmaxLateInPercent)?