I have been facing a strange issue with the EKI data (XML over TCP/IP) exchange between KUKA KRC4 and Beckhoff at EXT Mode.
We use DHCP for IP assignment at Robot Interface and PLC. The firewall assigns a fixed IP.
Beckhoff is the server and KUKA is the client.
When the first EKI connection is established between KUKA and PLC, KUKA sends the first message which is recieved by Beckhoff. The acknowledgement message sent from Beckhoff is getting delayed in reception at the KUKA Robot. Once the first message is exchanged between Robot and PLC, other communications are faster. I tried replacing the Beckhoff here with the EKI Simulator and the case is the same.
However, when I restart only the Robot in the network and try the EKI data communication in EXT Mode, I donot face any delay.
I dont get this strange behaviour of the system.
Had anyone faced this situation before, kindly guide me .