sending xml files using Server/Client TCP socket.

    Hello everyone,

    In my works I want to send XML files throw a TCP/IP connection (ETHERNET cable) from my pc as a severe to my KRC 4 as a client (robot KUKA KR-16-2).

    I'm working on a python program that suppose to send XML file to the KUKA controller robot using Server/Client TCP socket.

    But the problem is I have to send my XML file always like a bytes (image1). So can the kuka controller understand that the information received is an XML file and used in a KRL code ?

    In my XML file I want to send the variation of an analogic signal (angular variation of a joystick) so the value inside the XML file need to be updated every time the angulation value of the joystick change, so it's possible to do that using Server/Client TCP socket?

    Thanks for help.

    <cloud>

    <para>

    <weld>

    <ps1pow>10</ps1pow>

    <ps1al>5</ps1al>

    <ps1dc>6.6</ps1dc>

    <ps1bb>-5.8</ps1bb>

    <ps2pow>1.1</ps2pow>

    <ps2al>5.5</ps2al>

    <ps2dc>6.6</ps2dc>

    <ps2bb>-5.8</ps2bb>

    <weldvel>0.5</weldvel>

    </weld>

    </para>

    </cloud>

    this is the .xml file I have. Can you let me know if this is right?

    how would i know? you did not share the EKI configuration. both message and configuration need to match.

    when send config looks like this:

    Code
    <SEND> 
  <XML>            
    <ELEMENT Tag="FromKRC/TickCount"/>              <!-- INT -->
    <ELEMENT Tag="FromKRC/Ready"/>                  <!-- bool -->
    <ELEMENT Tag="FromKRC/Faulted"/>                <!-- bool -->
    <ELEMENT Tag="FromKRC/DrivesOn"/>               <!-- bool -->
    <ELEMENT Tag="FromKRC/AtHome"/>                 <!-- bool -->
 </XML>
</SEND>

    message sent by robot would look like this (shown with line breaks):

    the same thing is for reverse (robot receiving).

    the XML configuration tells to EKI how to format send message (encode) and parse received message (decode).

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    this is the config file snippet

    this is the xml file snippet

    I am trying to send the data from my PC to the KUKA Controller

    before message exchange can take place, connection need to be established. this also means one node is to work as a client, the other as server, server must be started first then client need to connect to server etc.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    So If I start the server first and then send this xml straight forward using python based TCP/IP it should work right.

    But still the same error keeps coming (Target Machine Refusing the connection). Can you let me know how to send the xml file directly through python and are any more modifications required in the xml or config file?


    I used EthernetKRL_Server.exe file to send data using their own interface and then there wasnt any issue( by directly copy-pasting the xml file).

    But while using python the connection issue is popping up.

    Quote from johncena690

    I used EthernetKRL_Server.exe file to send data using their own interface and then there wasnt any issue( by directly copy-pasting the xml file).

    But while using python the connection issue is popping up.

    Same computer/cables/network switch/etc?

    Then the problem probably has to be with your Python program. But there are about 5000 different methods to open TCP/IP connections in Python. And since whatever Python library you're using is throwing that error, you need to look into the documentation for that Python library.

    Quote from johncena690

    I used EthernetKRL_Server.exe file to send data using their own interface and then there wasnt any issue( by directly copy-pasting the xml file).

    I think here a different network is used (SMEM)

    Quote from johncena690

    But while using python the connection issue is popping up.

    did you run your python on the krc (SEM) or from a different computer (LAN)?

    In this case you are using a network which cannot be reached by your program unless your kli settings are correct

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