I have the following problem:
I am using a robot with KRC4 and KUKA.EthernetKRL 2.2.
We have made an API on the robot for our vision system. The first time our Init() command is called, we establish a command to the PC that runs the vision software. However, the Init() command may have to be called again, with different parameters. If we try to establish a connection, and one has already been established, then we get an error. I don't want that. If we try to close the connection before opening a new one, then we also get an error, if no connection has been established yet (i.e. first time the command is called). I also don't want that.
This problem could be avoided if there was some way to ask the KUKA software whether a connection has already been established. This does not seem to be the case. Or am I missing something?
We are also using our software with KRC2 robots. In the older versions of KUKA.EthernetKRL it is possible to call the command for closing a connection, and it gives no error message even if no connection is open. This is the behavior I want!
I know I could just restructure our API and add a specific command for opening a connection once in the beginning, but I would rather not do that.
So: Is it in some way possible to ask the KUKA.EthernetKRL software whether a connection is already open? If so, then can just skip opening it again.
I have tried to suppress the error messages from the EthernetKRL software by adding this to the xml file that configures the communication:
<Messages Display="disabled" Logging="error"/>
But this does not seem to work.
Thanks in advance for any tips!