[zajkowskie]

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.