KONI Port Issues

[danielj195]

I know this is more related to hardware, but I'm guessing that someone here has dealt with this issue before. After successfully building drake and the drake-iiwa-driver, I am now having issues connecting to the KONI port. I made sure to set the IP/netmask on my computer to 192.170.10.200/24 as instructed. Here are the steps I've taken so far to try to resolve the issue:

• Tried pinging the control box from both a linux and windows computer
• Disabled firewall features from windows computer
• Replaced ethernet cable with crossover cable
• Restarted the control box

When I run the drake-iiwa-driver, it prints "Listening for robot 0 port 30200". I looked in the file, but didn't see any print statements for when the robot is connected....will something notify me that I'm actually connected to the robot? Here's a screenshot of my terminal showing "Destination Host Unreachable" when I try to ping the KONI port. I'm grateful for any help you guys can provide.

[sammy-tri]

When you start kuka_driver, it just listens until the robot starts sending packets to it. There will be output printed when this happens. Trying to ping the robot first is the right call. When it's working, you should see output like:

$ ping 192.170.10.2
PING 192.170.10.2 (192.170.10.2) 56(84) bytes of data.
64 bytes from 192.170.10.2: icmp_seq=1 ttl=255 time=0.141 ms
64 bytes from 192.170.10.2: icmp_seq=1 ttl=64 time=0.295 ms (DUP!)

(yes, it's a little weird with the duplicate replies, but that's what passes for normal on these units.)

There should be a link light on the KONI port, which is usually directly cabled to the computer

192.170.10.2 is the default address for this port, but you can double check the station config in Sunrise:

[danielj195]

The IP of my computer should be 192.170.10.200 as per the README, correct? Are you using an ethernet cable or crossover cable? I should be able to ping the controller without the program running, right? (sorry if that's a stupid question) I'm still not sure why we are not able to ping the KONI from either a windows or linux. I've contacted KUKA....if it's a hardware issue, I may be at the mercy of their tech support. Thank you for your help!

[sammy-tri]

The IP of my computer should be 192.170.10.200 as per the README, correct?

Correct.

Are you using an ethernet cable or crossover cable?

Standard CAT6 ethernet cable.

I should be able to ping the controller without the program running, right?

Yep, once the controller has booted (so anytime once the UI is visible on the pad) it should ping.

I have had issues with some models of Intel gigabit ethernet interfaces not reliably negotiating a link with the robot. If you have access to a different type of ethernet card (or even in a pinch a USB3 GigE adapter), it might be worth trying that to see if you can ping the robot with a different network card.

[albindgit]

Hi @danielj195. Did you manage to solve this issue? I'm having the same problem with not even being able to ping the KONI IP.

[nepfaff]

@sammy-tri

I have had issues with some models of Intel gigabit ethernet interfaces not reliably negotiating a link with the robot

With "not reliably", do you mean that it worked sometimes but not other times? I'm struggling to connect to the robot consistently with my laptop, and I'm not sure what I'm doing differently between the times that it works and the ones that it doesn't

[sammy-tri]

With "not reliably", do you mean that it worked sometimes but not other times?

Yes. Sometimes the KONI port plugged into an intel gigE interface would work just fine on the first try, and sometimes I couldn't get it to work at all. IIRC I've seen this on both laptop and desktop interfaces.