of course.. you need to select both tool and base before you can use Cartesian coordinate system. and you are still not doing that as shown again in your screenshot. see image in post 3
that is right, it can send robot pose after tool and base were selected, thank your .
Display Moreplease read pinned topic READ FIRST and try to post in correct forum section.
some variables like those used by motion planner cannot be modified by submit. the only place where they can be modified is robot interpreter.
Cartesian positions require selection of tool and base. But those are exactly some of the variables just mentioned that cannot be written from submit:
thanks for your correction and answer @panic mode
so there is no way to get the Cartesian positions in submit , no matter $pos_act or $pos_act_mes was used ,sinece the Cartesian positions can be gotten with the precondition which is specifying the tool and base,. $base and $ tool are write-protected in submit,right?
@SkyeFire ,thanks for your suggestion, I used $POS_ACT_MES instead of $POS_ACT, msg： XYZABC TOOL not Program pop up again ,
KSS8.6.2
A sendRobotStatus.sub program which send robot postion (pos, and axis value) to external system as below,
RET=EKI_Init("sendRobotStatus")
RET=EKI_Open("sendRobotStatus")
WAIT FOR $FLAG[101]
LOOP
$BASE=$NULLfRAME
$TOOL=TOOL_DATA[1]
b_clear=strclear(send_Status[])
b_clear=strclear(axis_Status[])
b_clear=strclear(pos_Status[])
OFFSET=0
send_Status[]="Status,"
SWRITE(axis_Status[],STAT,OFFSET,"%0.2f,%0.2f,%0.2f,%0.2f,%0.2f,%0.2f,",$AXIS_ACT.A1,$AXIS_ACT.A2,$AXIS_ACT.A3,$AXIS_ACT.A4,$AXIS_ACT.A5,$AXIS_ACT.A6)
OFFSET=0
SWRITE(pos_Status[],STAT,OFFSET,"%0.2f,%0.2f,%0.2f,%0.2f,%0.2f,%0.2f,",$POS_ACT.X,$POS_ACT.Y,$POS_ACT.Z,$POS_ACT.C,$POS_ACT.B,$POS_ACT.A)
OFFSET=0
SWRITE(gi16_Status[],STAT,OFFSET,"%d,",gi_16)
OFFSET=0
SWRITE(go16_Status[],STAT,OFFSET,"%d",go_16)
strLenth=StrAdd(send_Status[],pos_Status[])
strLenth=StrAdd(send_Status[],axis_Status[])
strLenth=StrAdd(send_Status[],gi16_Status[])
strLenth=StrAdd(send_Status[],go16_Status[])
IF strLenth<>0 THEN
RET = EKI_Send("sendRobotStatus",send_Status[])
ELSE
; send MSG on smartPad msgQuee
ENDIF
WAIT SEC sendInterval
ENDLOOP
$FLAG[101]=FALSE
RET=EKI_Close("sendRobotStatus")
RET=EKI_Clear("sendRobotStatus")
when it was submit , a message hint that $BASE is write- protected，yes I have know the reason why it occurre.
I try to Comment :
;$BASE=$NULLfRAME
;$TOOL=TOOL_DATA[1]
another message hint that XYZABC TOOL not Program
So Is there a method to get robot Pos(X Y Z A B C) in .sub program .
sinece robot motion was exected in the robot Interpreter while sending robot status is need in parra
MOM, Thank you very much , the problem was solved by you suggestion. 
KSS8.6.2
The EKI is configured as a client shown in KUKA.Ethernet KRL 3.1 manual.
now what I want is EKI configured as a Sever
I used NetAssist.exe（a tcp/ip comunication tool）woking as a clint In host window, the IP of host window is 192.168.80.1
a server program run in Officelite which run in VM
here is a picture which describe the configration I made ,but when I conect to the server ,it failed.
How Can I config the IP and port using Router ,
