kukavarproxy Message Format

1. Description

kukavarproxy is an TCP/IP interface to Kuka robots that allows for reading and writing variables and data structures of the controlled manipulators.

2. How it works

The kukavarproxy is a TCP/IP server that listens for network messages on the TCP port 7000, the reads and writes data to the KRC system variables. kukavarproxy message format is

• msg ID in HEX 2 bytes
• msg length in HEX 2 bytes
• read (0) or write (1) 1 byte
• variable name length in HEX 2 bytes
• variable name in ASCII # bytes
• variable value length in HEX 2 bytes
• variable value in ASCII # bytes

3. Usage

The KRC robot controller runs the Microsoft Windows operating system. The teach pendant shows an “HMI” which is a program that KUKA developed to run on Windows and it is the interface that the robot user has to manipulate the robot through. In order to establish an Ethernet (TCP/IP) connection, you first need to run kukavarproxy on the controllers operating system, then configure the network connection from KUKA "HMI".

3.1. Copying kukavarproxy to the operating system on the KRC:

• Get the kukavarproxy from https://sourceforge.net/projects/openshowvar/files/openshowvar/REV%200.13.0/kukavarproxy-6_1.rar/download or from https://github.com/aauc-mechlab/JOpenShowVar/tree/master/KUKAVARPROXY%20rev%206.1.0.101
• Unpack and copy the folder to a USB flash drive
• Plug it to the KRC (not the teach pendant)
• Log in as an Expert or Administrator. For KR C4: KUKA Menu -> Configuration -> User Group. Defaulf password is kuka
• Minimize the "HMI". For KR C4:KUKA Menu -> Startup -> Service -> Minimize HMI
• Copy kukavarproxy folder to the Desktop (or anywhere else)
• Start the KUKAVARPROXY.exe
• If you have a problem with the file cswsk32.ocx, Use this command in the Administrator Command Prompt regsvr32.exe c:\asdf\cswsk32.ocx while changing the asdf with the true path to the file.
• You can make this program start automatically on reboot by creating a shortcut of KUKAVARPROXY.exe in Windows Start -> All Programs -> Right click Startup -> Open

3.2. HMI Network Configuration:

• Connect the robot to a network. (private one is recommended)
• Configure the KRC IP. For KR C4: KUKA Menu -> Startup -> Network Configuration
• Unlock port 7000. For KR C4: KUKA Menu -> Startup -> Network Configuration -> Advanced
• NAT -> Add Port -> Port number 7000
• Set permitted protocols: tcp/udp

4. Resources

• http://sourceforge.net/projects/openshowvar/
• https://github.com/aauc-mechlab/jopenshowvar/
• http://filipposanfilippo.inspitivity.com/publications/jopenshowvar-an-open-source-cross-platform-communication-interface-to-kuka-robots.pdf
• https://www.robodk.com/forum/attachment.php?aid=4