you need to describe the problem. so far we know nothing...
* specify system info. this is software question so KSS and EthernetKRL version would be expected.
* specify what is it you are trying to do and how (how to reproduce the problem?)
* post sample code that you are trying to use
if i am not mistaken, you used KRL module for EKI and running it in robot interpreter works. but since there is only one robot interpreter, you don't see a way to have the EKI communication work at the same time you try to run some robot program (motion program).
I´m using Robot KUKA KRC4 COMPACT KSS 8.6 AND A ROBOT KR 10 R1100-2
We are using ETHERNT KRL 3.1 for connect to robot, we have the comunication, we can receive and send information, We are using a Submit for run the comunication, but we don´t know how to start robot with this drive, is THERE a way to start the robot?
&ACCESS RVO
&COMMENT Ethernet TCP Communication
DEF XmlClient ( )
DECL EKI_STATUS RET
INT i
RET.Connected = FALSE
FOR i = 1 TO 10
VarBool[i] = FALSE
ENDFOR
LOOP
IF RET.Connected THEN
RET = EKI_SetBool("EthernetTCP", "Out/X01", $PRO_ACT)
RET = EKI_SetBool("EthernetTCP", "Out/X02", $RC_RDY1)
RET = EKI_SetBool("EthernetTCP", "Out/X03", $STOPMESS)
RET = EKI_SetBool("EthernetTCP", "Out/X04", $ALARM_STOP)
RET = EKI_SetBool("EthernetTCP", "Out/X05", $PERI_RDY)
RET = EKI_SetBool("EthernetTCP", "Out/X06", $I_O_ACTCONF)
RET = EKI_SetBool("EthernetTCP", "Out/X07", $USER_SAF)
RET = EKI_SetBool("EthernetTCP", "Out/X08", $ROB_CAL)
RET = EKI_SetBool("EthernetTCP", "Out/X09", $ALARM_STOP_INTERN)
RET = EKI_SetBool("EthernetTCP", "Out/X10", $OUT[PGNO_REQ])
RET = EKI_SetBool("EthernetTCP", "Out/X11", $OUT[APPL_RUN])
RET = EKI_SetBool("EthernetTCP", "Out/X12", $PRO_MOVE)
RET = EKI_SetBool("EthernetTCP", "Out/X13", $IN_HOME)
RET = EKI_SetBool("EthernetTCP", "Out/X14", $IN_HOME)
RET = EKI_SetBool("EthernetTCP", "Out/X15", $IN_HOME)
RET = EKI_SetBool("EthernetTCP", "Out/X16", $IN_HOME)
RET = EKI_SetBool("EthernetTCP", "Out/X17", $ON_PATH)
RET = EKI_SetBool("EthernetTCP", "Out/X18", $NEAR_POSRET)
RET = EKI_SetBool("EthernetTCP", "Out/X19", $ROB_STOPPED)
RET = EKI_SetBool("EthernetTCP", "Out/X20", $T1)
RET = EKI_SetBool("EthernetTCP", "Out/X21", $T2)
RET = EKI_SetBool("EthernetTCP", "Out/X22", $AUT)
RET = EKI_SetBool("EthernetTCP", "Out/X23", $EXT)
RET = EKI_SetInt("EthernetTCP", "Out/X24", PGNO_FBIT_REFL)
RET = EKI_Send("EthernetTCP","Out")
IF $FLAG[2] THEN
RET = EKI_GetBool("EthernetTCP","In/Y01",VarBool[1])
RET = EKI_GetBool("EthernetTCP","In/Y02",VarBool[2])
RET = EKI_GetBool("EthernetTCP","In/Y03",VarBool[3])
RET = EKI_GetBool("EthernetTCP","In/Y04",VarBool[4])
RET = EKI_GetBool("EthernetTCP","In/Y05",VarBool[5])
RET = EKI_GetBool("EthernetTCP","In/Y06",VarBool[6])
$EXT_START = VarBool[1]
$MOVE_ENABLE = VarBool[2]
$CONF_MESS = VarBool[3]
$DRIVES_OFF =VarBool[4]
$DRIVES_ON = VarBool[5]
$I_O_ACT = VarBool[6]
ENDIF
ELSE
IF NOT RET.Connected THEN
RET = EKI_Init("EthernetTCP")
RET = EKI_Open("EthernetTCP")
ELSE
RET = EKI_Clear("EthernetTCP")
ENDIF
ENDIF
ENDLOOP
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We try to associate the variables that we send to the system variables, but this is not possible because they are write-protected