[BC1]

Hi,

I'm experiencing difficulty while attempting to connect and retrieve current joints on my Kuka KRC2(win95) controller version 4.1.6 SP3. I can successfully ping as well as connect to the controller, but when I issue the get current joints command, RoboDK disconnects and then immediately reconnects to the controller.

KUKAVARPROXY shows that I am connected and appears to be receiving the request for $AXIS_ACT but it seems to disconnect right after receiving the request. I've attached an image showing the debug screen of KUKAVARPROXY as well as my $config.dat file

Any help will be greatly appreciated.

Thank you!

Hi, i tried today to connect via ethernet i saw your problem, what i saw that u has diffrent $config filme:
INT COM_ACTION=0
INT COM_ACTCNT=0
REAL COM_ROUNDM=0 <--- u have heare -1
REAL COM_VALUE1=0
REAL COM_VALUE2=0
REAL COM_VALUE3=0
REAL COM_VALUE4=0
DECL E6AXIS COM_E6AXIS
DECL FRAME COM_FRAME
DECL POS COM_POS
check this//m.sinclairbody.com/doc/en/Robots-KUKA.htmlin the end of tutorial.

Hi zajkowskie,

Thanks for your reply. That's a great observation! Are you having success connecting to a KRC2?


I went in and changed the variable value forCOM_ROUNDMback to 0 and re-ran the program.It appears that RoboDKsync changes the COM_ROUNDM variable value to -1 at the beginning of execution. I pasted a snippet of code below showing where RoboDK changes the variable value in blue.

DEF RoboDKsync33test()
INT io_id
INT j_id
INT program_id

BAS(#INITMOV,0)

PTP $AXIS_ACT

$ORI_TYPE = #VAR
$CIRC_TYPE = #BASE
$VEL.ORI1 = 200
$VEL.ORI2 = 200
$ACC.ORI1 = 100
$ACC.ORI2 = 100

$VEL.CP=3
$ACC.CP=10

$BASE = {FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0}
$TOOL = {FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0}

$ADVANCE = 0
COM_ROUNDM = -1 <----- RoboDKsync Changes the variable value here
COM_ACTION = 0
COM_ACTCNT = 0
$APO.CPTP = 0
$APO.CDIS = 0