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There is a difference in the way that controller works in the case of the versions 4.1.6 and 5.
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I am having the same problem with trying to get KUKAVARPROXY to operate correctly on our KRC2 KSS 4.1.6 under Windows 95.
It seems to be a COM issue where KUKAVARPROXY is not exchanging the data between cross and the proxy application, the OCX files are registered correctly. I am looking at trying to debug this further but I don't have any details on the Cross communications architecture/interface - any suggestion on where to start as it's been 20 years since I have to worry about Windows 95 internals or component development?
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Are you able to connect and retrieve the current robot position?
This should work if the network was properly established and your KUKAVARPROXY is running.
On the other hand, moving the robot requires the robodksynch.src program running and the global variables properly defined.