[delicato]

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?
Because I have seen krc1 with 4.1.7 and 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!

Hello

I would say this means you are working with the KRC1 instead of KRC2, I have seen the actual robot with this kind of system and as I remember it is KRC1 not KRC2.
我是not sure how to interface RoboDK with this kind of robot, since there is a different kind of connection.
What I would do is, I would make a program, which is anyway independent of the robot, use post processing for kuka since the code is the same in KRC1 and KRC2 and try it with your robot (decrease speed:D).
Because to make a connection with the KRC1 will take a lot of inteferencing, since the KRC1 cannot use KUKAVARPROXY and therefore RoboDK client which connects to KUKAVARPROXY will not be able to run.
You can also try to make a COM server for KRC1 using activeX and then a client to connect to it, but for that you should put foreign software on your KRC1 PC which is not what some customers would agree on.

Or more easily, you can make a program in RoboDK and you can change the values in the KUKA controller and that way go from one to another step.