Posts by vivektronics2003

I told you the whole story. I was running my program on the real controller when I first posted my problem on the forum. You can see I wrote clearly KLI port on the very first post.But as I was asking you people for the solution I had to travel for another site and so I created same condition in my notebook with my Office lite so that I can check easily the things suggested by you people for the faster response and believe me Office lite was behaving the same way as the real controller. I have not yet checked on the real controller yet because I am travelling. At least now I can connect with Officelite. After reaching my office I will again check with real controller and would ask you again if same problem persists. Again thank you all for your support but I am not yet out of the problem completely.

Thank you all, I sorted out. I had to use Kuka Router software package to route the traffic between the ports.

1. what is the IP address and subnet mask on KLI
192.168.1.9 255.255.255.0
2. what is the IP address and subnet mask on Client
192.168.1.21 255.255.255.0
3. how exactly they are connected physically? (if you are able to send/receive WoV project through KLI using WorkVisual, KLI and client NIC are most likely configured correctly) 
We are connected through a LAN cable and from the client computer I am able to deploy,copy,edit the work visual project for the Robot.
4. in what interpreter is your KRL program running? Should be run as Robot program, not submit.
Yes, I am trying to run in robot program not in submit.
5. how exactly you try to establish connection? Using what software? (i use putty and works like a charm).
I have written C# application who tries to connect on tcp ip socket with the server but it never connects. so I left the c# program and want to look what is wrong at robot side. I am running only the robot krl program with out any client and at the state of waiting Flag 1 I am checking whether the robot has opened the given port for listening or not with the command netstat -an in command prompt. The robot opens the port for listening 139 and 1801 always not the given port in xml. You can try at your end too with given command and check whether the port is opened or not with out client(My request).
6. is server started first? Server MUST run before Client tries to connect.
Yes, server is always started first
7. your SRC and CONFIG are carbon copy of what is in the manual, port is configuration is valid. is that port client tries to use?
yes, I am using the same port at my client as xml. Even if I am not using the same port at my client side but the robot should always open the given xml port for listening but I have never seen robot to open the port that is why I am doubting on robot side. Even if my network configuration is wrong at client side, but the robot should always open the port for listening. If it opens the port for listening, I would say my problem is resolved.
I think, there is some very basic mistake at robot side I making that is why I am not able to open the ports.

No profinet or Ethernet IP is running that robot. I will check subnet masks will reply you as I am out of my lab for 2 days.

What is the IP address of your robot set to?
KLI address is 192.168.1.9

Your XML file is set as "Client" even though you're trying to have the robot act as a server.
The external system is defined as a Client and Robot is working as server as the given syntax from manual.

What are Flag 1 and Flag 4 doing when you run this test program?  
Flag 4 will be used for future use once I able to get connected. As far as I know Flag 1 will get true if a client is connected to the server. I
can remove Flag 4 section but I think it doesnt creating any problem. My program waits for Flag 1 true all the time and my client application c# is always trying to connect to server.

Have you used WireShark to examine the port traffic activities?
No but I have tracked with command prompt (netstat -an) to monitor open ports for listening at robot side with the ip address of KLI on the robot computer when my robot waits for Flag 1 because Robot is working as server, but no additional ports( in the range of 54600 to 54615 ) are opened at that time.

At each step of the test program, what are the results of RET.MSG_NO?
RET=EKI_Init("RPSCmd") RET.MSG_NO =0,RET.Connected=False
RET=EKI_Open("RPSCmd") RET.MSG_NO =0,RET.Connected=True
WAIT FOR ( $FLAG[1] ) RET.MSG_NO =0,RET.Connected=True (program waits here infinitely)
WAIT FOR ( $FLAG[1]==FALSE ) RET.MSG_NO =0,RET.Connected=True (after the block selection)
RET=EKI_Clear("RPSCmd") RET.MSG_NO =0,RET.Connected=False

My mean to change the configuration to client is I made External system as Server and my robot is working as Client for the trial and to test that if there is some problem for opening a listening port. I done the changes in the xml file to make my Robot as Client.For the external server, I used the utility supplied with the software itself Krl_Server.exe but not able to connect too.

Dear All,
I am using Ethernet krl for some perpose. I need my robot to be server. Ip address of KLI is 192.168.1.9 and I am able to connect with work visual and have installed corresponding KOP, no problem till here. Now I am trying to make a program to open a port 54600 on the same ip address but not successfull till now.

Configuration file-

<ETHERNETKRL>
	<CONFIGURATION>
		<EXTERNAL>
			<TYPE>Client</TYPE>
		</EXTERNAL>
		<INTERNAL>
			<ENVIRONMENT>Program</ENVIRONMENT>
			<BUFFERING Mode="LIFO" Limit="16"/>
			<BUFFSIZE Limit="13029"/>
			<ALIVE Set_Flag="1"/>
			<IP>192.168.1.9</IP>
			<PORT>54600</PORT>
			<PROTOCOL>TCP</PROTOCOL>
			<MESSAGES Logging="warning" Display="error" />
		</INTERNAL>
	</CONFIGURATION>
	<RECEIVE>
		<XML>
			<ELEMENT Tag="Ext/Command/Type" Type="INT" />
			<ELEMENT Tag="Ext/Command/Param" Type="STRING" />
			<ELEMENT Tag="Ext/Debug/Answer" Type="INT" />
      <ELEMENT Tag="Ext" Set_Flag="4"/>
		</XML>
	</RECEIVE>
	<SEND>
		<XML>
			<ELEMENT Tag="Robot/Data/Debug/@Result"/>
		</XML>
	</SEND>
</ETHERNETKRL>

Robot Program-

DEF ram( )
RET=EKI_Init("RPSCmd")
RET=EKI_Open("RPSCmd")
WAIT FOR  ( $FLAG[1] ) 
WAIT FOR  ( $FLAG[1]==FALSE ) 
RET=EKI_Clear("RPSCmd")
END

In the log viewer when program is running there is no error but when I deselect the program I get these below errors-
BASIC dEthernetK 12:45:17.167 : MemObject: Successfully initialized memory pool of size 1048576 bytes.
BASIC dEthernetK 12:45:17.216 : CEKIApp: EthernetKRL application created.
ERROR RPSCmd 12:54:27.917 : CTcpSock: Failed to accept socket '455' (Code: 9)
ERROR RPSCmd 12:54:27.917 : CIoDevice: Failed to accept TCP connection on port 54600 with timeout -1. (Code=-1)
WARN RPSCmd 12:54:27.917 : CSystemCall: $Flag[1] is already '0'! Possible lost of interrupt edge at tick:635526
ERROR RPSCmd 12:54:27.917 : CConnection: Listening for IoDevice
WARN tFctCall 12:54:27.917 : CSystemCall: $Flag[1] is already '0'! Possible lost of interrupt edge at tick:635526
ERROR dEthernetK 12:54:34.882 : COperator: connection list is empty. (Cleared channel of type '0'.)

I am not able to open the port by looking command netstat -an in the command prompt, how ever if I swith to server.exe which is supplied by Ethernet krl software, I am able to open the port. So in summary I am not able to open the port from with program. Please help what is wrong with me.

Update-One more thing, Some how the Ip address of server in xml file is not working. If I change the ip to x.x.x.x even than the situation and error remains the same.

Update- I canged my configuration to be robot as client and the utility krl_server.exe as server. Even with the client xml , robot is not able to open the ports.

Hi all,
I am facing a strange problem. I am having office lite ver 8.3.37 and Sim pro 3.0.4.Both are running on the same pc.I can get connected from simpro to office and can upload or download of programes.Problem is when I press jog keys in office lite robot does not move in simpro.Same problem occures when I run any program from Officelite.Robot in simpro is not moving at all from Officelite.Please help...

Thanks,
i will try this today.

Dear All,
I am making a network of two robots and a PC. Both the robots are connected via kuka service bus to a switch and then to a PC so that i can do WV configuration for both.Problem is that KSI IP is same for both the robots and in the network configuration from smartpad i can only change the ip of KLI ( as i think ).so is there any way to change the ip of KSI( kuka service interface).Both robots are of KSS 8.3

Dear all,
I want my EtherCAT io driver to automatic reset , if any fault occurs. Any Ideas?. Thanks in advance.

Thank you Panic Mode.
I got casting but can EKI transfer data to a PLC. I think i have to write a socket program using some sort of language(C++,C # Java). I want my Real data to be transmitted and received by PLC.

Dear All,
I am looking to transfer real type data to Kuka Robot which has KRC4 controller.In WoV there is have no option for mapping IO into real type data. For the matter of complication,I don't want to transfer Integer value in to Robot and then divide it by any multiple of 10. I have seen there is a software package called Kuka Vision Comm by which we can directly transfer real data to robot. I saw it with Cognex camera and bus configuration,I don't remember.Can I directly send Real Type data into Kuka Robot by means of any bus?

Hi All,
I am working With SimPRo2.2 and Officelite V8.2 and every thing going fine except one. I cant map officelite digital io in simpro io i.e. Gripper on/off commands or Trace tool on/off .Any one has done it before?

Hi All,
I am working With SimPRo2.2 and Officelite V8.2 and every thing going fine except one. I cant map officelite digital io in simpro io i.e. Gripper on/off commands or Trace tool on/off .Any one has done it before?

Hi Tilman,
Have you initialized the cross.ocx in vb or got the documentation for this?

If u can upload the software then I can make a try on my office lite setup. I have made a proper connection with Ethernet XML but never tried with RSI due to unavailibility of the software.

Thanks jane3von for your reply,but in the mean time before your reply i moved one step ahead. i made a vb program and used crosscomm.cls to communicate with cross3.exe and successfully read and write the variables but still there is no option to move the robot. I just don't want to use src program. there is an active x control called cross.ocx,which has the "move" property but i was not able to get the document for it.i was not able to even initialize it in my vb program.Any ideas?

Hi,
I am new to this forum, but i got stuck somewhere using EKX.
Actually i am using XML package and successfully can transfer XML strings to Robot with my own server Application.But now I want to jog the Robot with my server application. I know this can be done with some Instructions in the src file ,but How? Any Ideas...........