Posts by Razzzhead

It is solved. All three robots are now cooperating again.

The two problems were in fact unrelated. The persistent info message "429 SP Client - waiting for KCP information from SP Host 192.0.10.2" was due to the real-time network cable from the robot to the switch which links all three robots together was not plugged in properly. The odd thing was that it was still possible to ping 192.0.10.2 from 192.0.10.4, but the reply took ~150ms. I'm guessing that Windows somehow re-routed the ping via the other (Windows) network to satisfy the request. The 429 error message was a bit misleading however.

The "access denied" error from the OPC client trying to find the OPC server on Robot 3 was a wrong permission in the R3 DCOM configurator, which showed up after a complete power down followed by a cold reboot. All three robot OPC servers are now equally accessible.

Three cooperating KRC2s with one shared KCP have been fine until trying to get the KUKA OPC servers working on each of them. There were problems with "access denied" logged on a network client when trying to read items. This was overcome by using the DCOM configurator by tweaking the settings regarding authentication and impersonation. Robot 1 (team master) and Robot 2 were fine and the client could successfully read items on both. However, the "access denied" error remained on Robot 3, even though all the DCOM configurator setting were the same as R1 and R2. At one stage the DCOM configurator did not exit cleanly and hung and so the controller required a cold re-boot.

That's when the problems started, but only on R3. I now have a persistent info message "429 SP Client - waiting for KCP information from SP Host 192.0.10.2" (192.0.10.2 is R1, the SP [KCP] master). The strange thing is that the KCP is fine when R3 is selected despite the ambiguous message, which cannot be acknowledged. The result of this state is the message "Active commands inhibited" when trying to move. Despite uninstalling the KUKA OPC server on R3, the problem remains. I have since re-installed the OPC server without any difference. R1 and R2 remain ok.

It would seem that something is corrupted somewhere due to the hanging DCOM configurator event but I can't find it.

Any clues?