(08-24-2018, 06:50 PM)BC1 Wrote: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!

(08-25-2018, 06:14 PM)zajkowskie Wrote:

(08-24-2018, 06:50 PM)BC1 Wrote: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//www.sinclairbody.com/doc/en/Robots-KUKA.htmlin the end of tutorial.

(08-28-2018, 11:02 PM)Albert Wrote:I would recommend turning off Windows firewall and reboot the robot controller. Let me know if you still have issues and provide a screenshot of the log window. You can also try to delete the this file:
C:\Users\username\AppData\Roaming\RoboDK-Drivers\apikuka.exe.ini
It will be generated automatically next time you try to connect. I would try to increase the timeout if you are not directly connected to the robot.

Changing COM_ROUNDM won't help as this is internally managed by RoboDKsynch.src file.

(09-27-2018, 05:24 PM)delicato Wrote:Are sure that you kukavarproxy can work on the KRC2 controller version 4.1.6?
I have tried this already with the client I have written to connect to kukavarproxy and it is possible to get connection between client and kukavarproxy, in your case it is between robodk and kukavarproxy. And I belive that on the kukavarproxy you can see those variables you want to read/write. But the problem is that there is a difference in way that controller works in the case of the versions 4.1.6 and 5... I have tried the same client with the version 5(I don't remember which one excatly) and that worked.
Also are you sure it is version krc2 and not krc1?
因为我已经看到krc1 4.1.7和windows 98.

You can try to connect to the krc1 or to your krc2 via crosscom, but it is possible only locally for that you can build a client, but that is another topic.

In the case this is correct I am afraid that kukavarproxy will give what you are looking for.

(10-03-2018, 05:01 PM)BC1 Wrote:

(09-27-2018, 05:24 PM)delicato Wrote:Are sure that you kukavarproxy can work on the KRC2 controller version 4.1.6?
I have tried this already with the client I have written to connect to kukavarproxy and it is possible to get connection between client and kukavarproxy, in your case it is between robodk and kukavarproxy. And I belive that on the kukavarproxy you can see those variables you want to read/write. But the problem is that there is a difference in way that controller works in the case of the versions 4.1.6 and 5... I have tried the same client with the version 5(I don't remember which one excatly) and that worked.
Also are you sure it is version krc2 and not krc1?
因为我已经看到krc1 4.1.7和windows 98.

You can try to connect to the krc1 or to your krc2 via crosscom, but it is possible only locally for that you can build a client, but that is another topic.

In the case this is correct I am afraid that kukavarproxy will give what you are looking for.

Hi Delicato,

Thank you for your response.


I'm not certain that it's a KRC2, but the tag on the controller states that it's a type (V)KR C2. The GUI version shown on the pendant is V3 3.76 B207 (V)KR C1 V 3.3/V4.1. This system was originally built to be used in a GM factory so therefore it may not be a standard controller and there seems to be contradictions between the cabinet tag and software versions.


We bought the system used with hopes of being able to get it working with RoboDK. The controller is running windows 95. I'm not familiar with the differences between the software versions as this is the only Kuka that I've had the opportunity to work with.

I plan to continue experimenting with it to try to get things working, but if you could provide any additional insight, it would be greatly appreciated.

Thanks again!