KUKA robot integration — Ethernet KRL plug-in

For TCP socket communication, KUKA needs an XML config file at C:/KRC/ROBOTER/CONFIG/USER/COMMON/ETHERNETKRL. AIVE is set as the server with <IP>192.168.0.30</IP>, <PORT>1470</PORT>, <TYPE>Server</TYPE>, and the robot IP is set on the SmartPad via Start-up > Network Configuration.

Communication is initialized in the order EKI_Init("XmlAive") → EKI_Open("XmlAive"), and AIVE protocol strings are sent directly with EKI_Send("XmlAive","<C1>"). KRL-wrapped functions — AIVEReady(), AIVELightOn/Off(), AIVEMotion1/2(), AIVEManual(mm,hz,sec) — are deployed to KRC:\R1\Program.

Inside AIVEManual, SWRITE converts the stroke, frequency, and time values into strings, assembles them in the <P1NNN> and <P2NN,NN> formats, and sends them sequentially with EKI_Send. Integer conversion and digit padding are the key logic.

Apart from AIVE feeder control, the KUKA RoboEye vision plug-in was built on the same EthernetKRL structure. The vision XML file defines separate SEND (trigger out) and RECEIVE (coordinates in) paths. The robot sends a capture trigger via the xmlRoboeye function, and the RoboEye server returns coordinates after processing.