C3 Bridge Interface

Application Protocol Specification

Version 1, Revision 5

24 March, 2022

Dmitry Lavygin

S.P. Kapitsa Research Institute of Technology

Ulyanovsk State University

Ulyanovsk • Russian Federation

COPYRIGHT

© 2020-2022 Dmitry Lavygin (vdm.inbox@gmail.com)

S.P. Kapitsa Research Institute of Technology of Ulyanovsk State University.

All rights reserved.

 

CONTRIBUTORS

 

TERMS AND CONDITIONS

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

  1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
  3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

 

DISCLAIMER

THE SOFTWARE AND THIS DOCUMENT ARE PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THE SOFTWARE OR THIS DOCUMENT, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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DOCUMENT HISTORY

RevisionNotesDate
1 Initial release 2020-08-04
2

Fixed

  • Typo in the table in the section 1.1 (the port number should be 6999)
  • Typo in the description of the section 2
  • Bit counting in the section 3.8.2
  • Interpreter type in the section 3.6.1 must be INT16

Added

  • 1.5. SOFTWARE VERSIONING
  • 2.7. PROXY LISTENING ADDRESS REQUEST
  • 2.8. PROXY LISTENING PORT REQUEST
  • 2.9. PROXY ENABLED REQUEST
  • 3.8.5. MESSAGE #17. PERFORM PROXY BENCHMARK
  • 3.9. MESSAGES FOR FILE OPERATIONS

Changed

  • 1.4. DATA TYPES
  • 2.3. PROXY VERSION REQUEST
  • 3.4. MESSAGE TYPES
  • 3.5.1. MESSAGE #0. READ VARIABLE (ASCII)
  • 3.5.5. MESSAGE #4. READ VARIABLE
  • 3.5.7. MESSAGE #6. READ MULTIPLE VARIABLES
  • 3.5.8. MESSAGE #7. WRITE MULTIPLE VARIABLES
  • 3.8.1. MESSAGE #13. GET PROXY INFORMATION
 2021-05-30
3

Fixed

  • Recommended minimum version in the section 3.5.8
 2021-06-06
4

Important

The documentation has migrated to HTML format

 

Fixed

  • The word "inter process" in TERMS USED
  • Request size in 2.7 (it must be 14)
  • Byte offset in 3.5.6
  • The word "Submit" in 3.6.1
  • The word "Submit" in 3.7.2
  • Invalid message ID of 3.10.1 (it must be 63)

Added

  • List of contributors in COPYRIGHT
  • Hexadecimal representation in sample messages

Changed

  • SOFTWARE VERSIONING section has been renumbered from 1.5 to 1.1
  • Response examples in 2.9
  • Sample request/response in 3.5.2
  • Sample request/response in 3.5.6
  • Sample request/response in 3.5.8
  • Sample response in 3.8.2
 2022-02-10
5

Fixed

  • Missing "Key Status" field in 3.7.2
  • Wrong value of field "All" in 3.9.1.6
 2022-03-24
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TABLE OF CONTENTS

1. OVERVIEW 6
  1.1. SOFTWARE VERSIONING 6
  1.2. TYPES AND PURPOSE OF PROTOCOLS 7
  1.3. BYTE ORDER 7
  1.4. HEXADECIMAL NUMBERS 7
  1.5. DATA TYPES 8
2. DISCOVERY PROTOCOL 9
  2.1. PRESENCE REQUEST 10
  2.2. PROXY TYPE REQUEST 11
  2.3. PROXY VERSION REQUEST 12
  2.4. PROXY FEATURES REQUEST 13
  2.5. COMPUTER NAME REQUEST 14
  2.6. DATE AND TIME REQUEST 15
  2.7. PROXY LISTENING ADDRESS REQUEST 16
  2.8. PROXY LISTENING PORT REQUEST 17
  2.9. PROXY ENABLED REQUEST 18
3. PRIMARY PROTOCOL 19
  3.1. MESSAGE HEADER 20
  3.2. RESPONSE FOOTER 21
  3.3. ERROR CODES 22
  3.4. MESSAGE TYPES 23
  3.5. MESSAGES FOR VARIABLE HANDLING 24
    3.5.1. MESSAGE #0. READ VARIABLE (ASCII) 24
    3.5.2. MESSAGE #1. WRITE VARIABLE (ASCII) 25
    3.5.3. MESSAGE #2. READ ARRAY (ASCII) 26
    3.5.4. MESSAGE #3. WRITE ARRAY (ASCII) 26
    3.5.5. MESSAGE #4. READ VARIABLE 27
    3.5.6. MESSAGE #5. WRITE VARIABLE 28
    3.5.7. MESSAGE #6. READ MULTIPLE VARIABLES 29
    3.5.8. MESSAGE #7. WRITE MULTIPLE VARIABLES 30
  3.6. MESSAGES FOR KRL PROGRAM HANDLING 31
    3.6.1. MESSAGE #10. PROGRAM CONTROL (SUBTYPE I) 31
    3.6.2. MESSAGE #10. PROGRAM CONTROL (SUBTYPE II) 32
  3.7. MESSAGES FOR MANUAL ROBOT CONTROL 33
    3.7.1. MESSAGE #11. MOTION CONTROL 33
    3.7.2. MESSAGE #12. KCP KEY EMULATION 34
  3.8. SERVICE MESSAGES 35
    3.8.1. MESSAGE #13. GET PROXY INFORMATION 35
    3.8.2. MESSAGE #14. GET PROXY FEATURES 36
    3.8.3. MESSAGE #15. GET PROXY INFORMATION (EXTENDED) 37
    3.8.4. MESSAGE #16. GET CROSS3 INFORMATION 37
    3.8.5. MESSAGE #17. PERFORM PROXY BENCHMARK 38
  3.9. MESSAGES FOR FILE OPERATIONS 39
    3.9.1. CONSTANT VALUES 39
    3.9.2. MESSAGE #20. SET FILE ATTRIBUTES 40
    3.9.3. MESSAGE #21. LIST DIRECTORY CONTENTS 41
    3.9.4. MESSAGE #22. CREATE NEW FILE 42
    3.9.5. MESSAGE #23. DELETE FILE 43
    3.9.6. MESSAGE #24. COPY FILE 44
    3.9.7. MESSAGE #25. MOVE FILE 45
    3.9.8. MESSAGE #26. GET FILE PROPERTIES 46
    3.9.9. MESSAGE #27. GET FILE FULL PATH 47
    3.9.10. MESSAGE #28. GET KRC PATH 48
    3.9.11. MESSAGE #29. WRITE FILE CONTENT (BEGINNING) 49
    3.9.12. MESSAGE #29. WRITE FILE CONTENT (DATA CHUNK) 50
    3.9.13. MESSAGE #29. WRITE FILE CONTENT (CHECKSUM) 51
    3.9.14. MESSAGE #29. WRITE FILE CONTENT (FINAL) 52
    3.9.15. MESSAGE #30. READ FILE CONTENT (BEGINNING) 53
    3.9.16. MESSAGE #30. READ FILE CONTENT (DATA CHUNK) 54
    3.9.17. MESSAGE #30. READ FILE CONTENT (CHECKSUM) 55
    3.9.18. MESSAGE #30. READ FILE CONTENT (FINAL) 56
  3.10. MESSAGES FOR CROSSCOMMEXE COMPATIBILITY 57
    3.10.1. MESSAGE #63. CONFIRM ALL 57
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TERMS USED

TermDescription
IP

Internet Protocol

The Internet Protocol (IP) is the principal communications protocol in the Internet protocol suite. It is responsible for addressing host interfaces, encapsulating data into datagrams (including fragmentation and reassembly) and routing datagrams from a source host interface to a destination host interface across one or more IP networks.
TCP/IP

Transmission Control Protocol

The Transmission Control Protocol provides a communication service at an intermediate level between an application program and the Internet Protocol. It provides host-to-host connectivity at the transport layer of the Internet model.
UDP/IP

User Datagram Protocol

UDP is a simple message-oriented transport layer protocol that is documented in RFC 768. Although UDP provides integrity verification (via checksum) of the header and payload, it provides no guarantees to the upper layer protocol for message delivery and the UDP layer retains no state of UDP messages once sent.
KRC

KUKA Robot Controller
KRL

KUKA Robot Language

KUKA Robot programming language.
KUKA Cross 3

Internal mechanism of inter process communication in the KUKA robot control system.
KukavarProxy

KukavarProxy is a TCP/IP server that allows KRL variables to be read and written over a network connection.
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1. OVERVIEW

This document describes the protocols used by the C3 Bridge Interface Server. The C3 Bridge Interface Server is a lightweight network application that allows remote clients to execute requests to KUKA Cross 3 subsystem and return responses. The application provides advanced functionality and high performance.

 

1.1. SOFTWARE VERSIONING

All products in the C3 Bridge family use versions consisting of three or, in some cases, four numbers. The first two numbers represent the major and minor components of the version. The third number denotes the type of build shown in the table below. The fourth number can only be used for internal builds.

Version Number Build Type
0 Open Source
1 Proprietary
2 Freeware
3 Internal Build
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1.2. TYPES AND PURPOSE OF PROTOCOLS

The C3 Bridge Interface Server can use two network protocols.

The first protocol, called the Discovery Protocol, is based on UDP and can be used to detect a remote server and find out its capabilities. The Discovery Protocol can operate in legacy or standard mode, or both. The legacy mode is implemented for compatibility with KukavarProxy features.

The second protocol is the primary one. It is based on TCP and is designed for remote interaction with the KUKA robot control system.

The table below shows a summary of the protocols and network ports on which they operate by default.

Protocol Based on Listening port Port to answer Support in KukavarProxy
Discovery (legacy) UDP 6999 7000 Yes
Discovery (standard) UDP 7000 source port of peer  
Primary TCP 7000 — Yes, limited

 

1.3. BYTE ORDER

All multibyte fields in protocol messages are composed using the network byte order (or big-endian, most significant byte is transmitted first). Although this is in contradiction with the Intel IA-32 platform byte order (little-endian), the network byte order was chosen to provide compatibility with the KukavarProxy protocol.

The exceptions to this order are characters and strings in UTF16 format. The system byte order (little-endian) is used for them.

 

1.4. HEXADECIMAL NUMBERS

Base 16 (hexadecimal) numbers are represented by a string of hexadecimal digits followed by the character "h" (for example, 0D0Ah). A hexadecimal digit is a character from the following set: 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, A, B, C, D, E, and F.

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1.5. DATA TYPES

The following table gives information about the types of data used:

Name Description Size (bytes) Range
MIN MAX
UINT8 Unsigned Integer, 8−bit 1 0 255
INT8 Signed Integer, 8−bit 1 -128 127
UINT16 Unsigned Integer, 16−bit 2 0 65535
INT16 Signed Integer, 16−bit 2 -32768 32767
UINT32 Unsigned Integer, 32−bit 4 0 4294967295
INT32 Signed Integer, 32−bit 4 -2147483648 2147483647
BOOL Boolean Type 1 0 1[1]
CHAR ASCII / ISO/IEC 8859−1 Character 1  
STRING ASCII / ISO/IEC 8859−1 String variable  
WCHAR Unicode Character
(encoded in UTF−16LE)		 2  
WSTRING Unicode String
(encoded in UTF−16LE)		 variable (even)  
BINARY Binary Data
(array of UINT8)		 variable  

NOTES

  1. The Boolean value is encoded with one byte. This means that the actual value of this field may be between 0 and 255. The recipient must treat all non-zero values as TRUE and 0 as FALSE. The sender must encode the TRUE value with 1 and the FALSE value with 0.
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2. DISCOVERY PROTOCOL

The Discovery Protocol uses the UDP datagrams that contain text messages of a predetermined length. In the legacy mode, the sender makes requests to the server on port 6999 and the server responds to port 7000 of the sender. In standard mode, the sender makes requests to the server on port 7000, and the server responds to the sender's address and port, allowing the sender to use any port to receive responses.

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2.1. PRESENCE REQUEST

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: Yes

 

PURPOSE

Determination of the control system address and readiness of the control system to process requests of the primary protocol (indirectly).

 

REQUEST

Offset (bytes) Size (bytes) Type Value
0 12 STRING WHEREAREYOU?

 

RESPONSE

Offset (bytes) Size (bytes) Type Value
0 variable STRING KUKA|<model name>|<serial #>

NOTES

<model name> is the value of $MODEL_NAME[] KRL variable.

<serial #> is the value of $KR_SERIALNO KRL variable.

 

NEGATIVE RESPONSE

In case of an error when accessing the KUKA Cross 3 subsystem, the fields <model name> and <serial #> may be empty. In this case, the response has the following form:

Offset (bytes) Size (bytes) Type Value
0 6 STRING KUKA||
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2.2. PROXY TYPE REQUEST

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Determining the type of proxy server. The C3 Bridge Interface responds to this request and KukavarProxy does not.

 

REQUEST

Offset (bytes) Size (bytes) Type Value
0 11 STRING @PROXY_TYPE

 

RESPONSE

Offset (bytes) Size (bytes) Type Value
0 19 STRING C3 BRIDGE INTERFACE
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2.3. PROXY VERSION REQUEST

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Obtaining information about the application version and license type.

 

REQUEST

Offset (bytes) Size (bytes) Type Value
0 14 STRING @PROXY_VERSION

 

RESPONSE

Offset (bytes) Size (bytes) Type Value
0 variable STRING <major>.<minor> <type>

NOTES

<major> is the major number of the software version.

<minor> is the minor number of the software version.

<type> is the type of the software edition (look at section 1.1. SOFTWARE VERSIONING), it can be (OPEN SOURCE), (PROPRIETARY), (FREEWARE), or (INTERNAL BUILD).

 

SAMPLE RESPONSE

Offset (bytes) Size (bytes) Type Value
0 17 STRING 1.0 (OPEN SOURCE)
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2.4. PROXY FEATURES REQUEST

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Determining the list of supported messages for the primary protocol.

 

REQUEST

Offset (bytes) Size (bytes) Type Value
0 15 STRING @PROXY_FEATURES

 

RESPONSE

  Offset (bytes) Size (bytes) Type Value Meaning
R
E
Q
U
I
R
E
D		 -1 1 CHAR 1 Message #0 is available
0 Message #0 is NOT available
-2 1 CHAR 1 Message #1 is available
0 Message #1 is NOT available
...
-8 1 CHAR 1 Message #7 is available
0 Message #7 is NOT available
O
P
T
I
O
N
A
L		 -9 1 CHAR 1 Message #8 is available
0 Message #8 is NOT available
...
-256 1 CHAR 1 Message #255 is available
0 Message #255 is NOT available

NOTES

Negative offset means bytes counted from the end of the received datagram. For example, -1 means the last byte, -2 means the penultimate byte, etc.

 

SAMPLE RESPONSE

Offset (bytes) Size (bytes) Type Value Meaning
-1 1 CHAR 1 Message #0 is available
-2 1 CHAR 1 Message #1 is available
-3 1 CHAR 0 Message #2 is NOT available
-4 1 CHAR 0 Message #3 is NOT available
-5 1 CHAR 1 Message #4 is available
-6 1 CHAR 1 Message #5 is available
-7 1 CHAR 1 Message #6 is available
-8 1 CHAR 1 Message #7 is available
-9 1 CHAR 0 Message #8 is NOT available
-10 1 CHAR 0 Message #9 is NOT available
-11 1 CHAR 1 Message #10 is available
-12 1 CHAR 1 Message #11 is available
-13 1 CHAR 1 Message #12 is available
-14 1 CHAR 1 Message #13 is available
-15 1 CHAR 1 Message #14 is available
-16 1 CHAR 0 Message #15 is NOT available

NOTES

In this example, the string representation of the received data is as follows: 0111110011110011.

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2.5. COMPUTER NAME REQUEST

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Obtaining the computer name on which the robot control system is located.

 

REQUEST

Offset (bytes) Size (bytes) Type Value
0 15 STRING @PROXY_HOSTNAME

 

RESPONSE

Offset (bytes) Size (bytes) Type Value
0 variable STRING <KRC hostname>

 

SAMPLE RESPONSE

Offset (bytes) Size (bytes) Type Value
0 9 STRING C010-07VM
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2.6. DATE AND TIME REQUEST

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Obtaining the date and time set on the robot control system in ISO 8601 format.

 

REQUEST

Offset (bytes) Size (bytes) Type Value
0 11 STRING @PROXY_TIME

 

RESPONSE

Offset (bytes) Size (bytes) Type Value
0 20 STRING YYYY-MM-DDThh:mm:ssZ

NOTES

[YYYY] indicates a four-digit year, 1601 through 9999.

[MM] indicates a two-digit month of the year, 01 through 12.

[DD] indicates a two-digit day of that month, 01 through 31.

[DD] indicates a two-digit day of that month, 01 through 31.

[T] is just ANSI character T, which is used to separate the date and time.

[hh] refers to a zero-padded hour between 00 and 23.

[mm] refers to a zero-padded minute between 00 and 59.

[ss] refers to a zero-padded second between 00 and 59.

[Z] means that the Coordinated Universal Time (UTC) is used.

 

SAMPLE RESPONSE

Offset (bytes) Size (bytes) Type Value
0 20 STRING 2020-08-04T06:46:10Z
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2.7. PROXY LISTENING ADDRESS REQUEST

Minimum supported version: 1.2.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Obtaining the TCP/IP address where the primary C3 Bridge Interface protocol is listening. The address 0.0.0.0 means that listening is performed on all available network interfaces.

 

REQUEST

Offset (bytes) Size (bytes) Type Value
0 14 STRING @PROXY_ADDRESS

 

RESPONSE

Offset (bytes) Size (bytes) Type Value
0 variable STRING <TCP/IP address>

 

SAMPLE RESPONSE

Offset (bytes) Size (bytes) Type Value
0 7 STRING 0.0.0.0
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2.8. PROXY LISTENING PORT REQUEST

Minimum supported version: 1.2.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Obtaining the TCP/IP port where the primary C3 Bridge Interface protocol is listening.

 

REQUEST

Offset (bytes) Size (bytes) Type Value
0 11 STRING @PROXY_PORT

 

RESPONSE

Offset (bytes) Size (bytes) Type Value
0 variable STRING <TCP/IP port>

 

SAMPLE RESPONSE

Offset (bytes) Size (bytes) Type Value
0 4 STRING 7000
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2.9. PROXY ENABLED REQUEST

Minimum supported version: 1.2.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Getting information about the status of the TCP/IP server of the primary protocol.

 

REQUEST

Offset (bytes) Size (bytes) Type Value
0 14 STRING @PROXY_ENABLED

 

POSITIVE RESPONSE

Offset (bytes) Size (bytes) Type Value
0 4 STRING TRUE

 

NEGATIVE RESPONSE

Offset (bytes) Size (bytes) Type Value
0 5 STRING FALSE
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3. PRIMARY PROTOCOL

The primary protocol uses long-term TCP/IP sessions. Data exchange takes place using binary messages of variable length. Transmitted messages are divided into requests and responses. The requests contain only the header and payload. The responses contain the header, payload, and error code at the end of the message. The server has the right not to reply to unknown or incorrect requests.

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3.1. MESSAGE HEADER

Each message begins with a header, the structure of which is shown in the table below.

Offset (bytes) Size (bytes) Type Meaning
0 2 UINT16

Tag ID

This field specifies the message identifier. The response from the server will contain the same identifier as the request. This identifier does not define the type of request and can accept any values in the range from 0 to 65 535.
2 2 UINT16

Message Length

The full length of the message, excluding the Tag ID and Message Length fields.
4 1 UINT8

Message Type

An important field that defines the type of message. The message type indicates the number of the function that will be or has been executed by the C3 Bridge Interface.
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3.2. RESPONSE FOOTER

Each response message ends with a footer, the structure of which is shown in the table below.

Offset (bytes) Size (bytes) Type Meaning
0 2 UINT16

Error Code

The error codes are listed in the next section.
2 1 BOOL

Success Flag

TRUE in case of a successful response, FALSE in case of error.
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3.3. ERROR CODES

The full list of error codes can be found in the file include/c3bi.h.

Code Name Description
0 ErrorGeneral Unspecified error.
In some cases it may be the result of an E_FAIL error from the Windows COM subsystem.
1 ErrorSuccess Not an error.
The operation was successful.
2 ErrorAccess General access denied error.
COM equivalent: E_ACCESSDENIED.
3 ErrorArgument One or more arguments are not valid.
COM equivalent: E_INVALIDARG.
4 ErrorMemory Failed to allocate necessary memory.
COM equivalent: E_OUTOFMEMORY.
5 ErrorPointer NULL was passed incorrectly for a pointer value.
COM equivalent: E_POINTER.
6 ErrorUnexpected Unexpected failure.
COM equivalent: E_UNEXPECTED.
7 ErrorNotImplemented The requested function has not been implemented.
In some cases it may be the result of an E_NOTIMPL error from the Windows COM subsystem.
8 ErrorNoInterface No such interface supported.
COM equivalent: E_NOINTERFACE.
9 ErrorProtocol Error in message content, incorrect number of fields, or their values.
10 ErrorLongAnswer The response message is too big. The data cannot fit into a single message.
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3.4. MESSAGE TYPES

The full list of message types can be found in the file include/c3bi.h.

Type Name
0 CommandReadVariableAscii
1 CommandWriteVariableAscii
2 CommandReadArrayAscii
3 CommandWriteArrayAscii
4 CommandReadVariable
5 CommandWriteVariable
6 CommandReadMultiple
7 CommandWriteMultiple
8 Reserved
9
10 CommandProgramControl
11 CommandMotion
12 CommandKcpAction
13 CommandProxyInfo
14 CommandProxyFeatures
15 CommandProxyInfoEx
16 CommandProxyCrossInfo
17 CommandProxyBenchmark
18 Reserved
19
20 CommandFileSetAttribute
21 CommandFileNameList
22 CommandFileCreate
23 CommandFileDelete
24 CommandFileCopy
25 CommandFileMove
26 CommandFileGetProperties
27 CommandFileGetFullName
28 CommandFileGetKrcName
29 CommandFileWriteContent
30 CommandFileReadContent
31 Reserved
...
49
50 CommandCrossSetInfoOn
51 CommandCrossSetInfoOff
52 CommandCrossGetRobotDirectory
53 CommandCrossDownloadDiskToRobot
54 CommandCrossDownloadMemToRobot
55 CommandCrossUploadFromRobotToDisk
56 CommandCrossUploadFromRobotToMem
57 CommandCrossDeleteRobotProgram
58 CommandCrossRobotLevelStop
59 CommandCrossControlLevelStop
60 CommandCrossRunControlLevel
61 CommandCrossSelectModul
62 CommandCrossCancelModul
63 CommandCrossConfirmAll
64 CommandCrossKrcOk
65 CommandCrossIoRestart
66 CommandCrossReserved
67
68
69
70 Reserved
...
128
129 Free Range
...
254
255 CommandExtended
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3.5. MESSAGES FOR VARIABLE HANDLING

 

3.5.1. MESSAGE #0. READ VARIABLE (ASCII)

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: Yes

 

PURPOSE

Retrieving the value of KRL variable or internal variable (ASCII version).

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 0
P
A
Y
L
O
A
D		 5 2 UINT16

LVN

Length of Variable Name
7 LVN STRING Variable Name

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 0
P
A
Y
L
O
A
D		 5 2 UINT16

LVV

Length of Variable Value
7 LVV STRING Variable Value
F
O
O
T
E
R		 variable 2 UINT16 Error Code
variable 1 BOOL Success Flag

 

SAMPLE REQUEST

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 01 00 00 0E 00 00 0B 24 41 43 43 55 5F 53 54 41
00010 54 45                            

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 256
2 2 UINT16 14
4 1 UINT8 0
P
A
Y
L
O
A
D		 5 2 UINT16 11
7 11 STRING $ACCU_STATE

 

SAMPLE RESPONSE

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 01 00 00 10 00 00 0A 23 43 48 41 52 47 45 5F 4F
00010 4B 00 01 01                        

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 256
2 2 UINT16 16
4 1 UINT8 0
P
A
Y
L
O
A
D		 5 2 UINT16 10
7 10 STRING #CHARGE_OK
F
O
O
T
E
R		 17 2 UINT16 1
19 1 BOOL TRUE

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess

 

INTERNAL VARIABLES

C3 Bridge Interface contains several internal variables whose values can be obtained with the Read Variable message. Access to the internal variable is possible provided that there is no variable with the same name in the KRL system.

Variable Name Variable Value
PING PONG
@PROXY_TYPE C3 BRIDGE INTERFACE
@PROXY_VERSION Look at section 2.3. PROXY VERSION REQUEST
@PROXY_FEATURES Look at section 2.4. PROXY FEATURES REQUEST
@PROXY_HOSTNAME Look at section 2.5. COMPUTER NAME REQUEST
@PROXY_TIME Look at section 2.6. DATE AND TIME REQUEST
@PROXY_ADDRESS Look at section 2.7. PROXY LISTENING ADDRESS REQUEST
@PROXY_PORT Look at section 2.8. PROXY LISTENING PORT REQUEST
@PROXY_ENABLED Look at section 2.9. PROXY ENABLED REQUEST

NOTES

[PREVIOUS PAGE] 24 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.5.2. MESSAGE #1. WRITE VARIABLE (ASCII)

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: Yes

 

PURPOSE

Writing the new value of the KRL variable (ASCII version).

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 1
P
A
Y
L
O
A
D		 5 2 UINT16

LVN

Length of Variable Name
7 LVN STRING Variable Name
variable 2 UINT16

LVV

Length of Variable Value
variable LVV STRING Variable Value

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 1
P
A
Y
L
O
A
D		 5 2 UINT16

LVV

Length of Variable Value
7 LVV STRING Variable Value
F
O
O
T
E
R		 variable 2 UINT16 Error Code
variable 1 BOOL Success Flag

 

SAMPLE REQUEST

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 01 00 00 0E 01 00 07 24 4F 56 5F 50 52 4F 00 02
00010 33 35                            

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 256
2 2 UINT16 14
4 1 UINT8 1
P
A
Y
L
O
A
D		 5 2 UINT16 7
7 7 STRING $OV_PRO
14 2 UINT16 2
16 2 STRING 35

 

SAMPLE RESPONSE

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 01 00 00 08 01 00 02 33 35 00 01 01        

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 256
2 2 UINT16 8
4 1 UINT8 1
P
A
Y
L
O
A
D		 5 2 UINT16 2
7 2 STRING 35
F
O
O
T
E
R		 9 2 UINT16 1
11 1 BOOL TRUE

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
[PREVIOUS PAGE] 25 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.5.3. MESSAGE #2. READ ARRAY (ASCII)

Minimum supported version: None

Support in KukavarProxy: Yes

 

PURPOSE

(Translated from KukavarProxy source code)

Reading and formatting an array variable for the PLC.

 

 

3.5.4. MESSAGE #3. WRITE ARRAY (ASCII)

Minimum supported version: None

Support in KukavarProxy: Yes

 

PURPOSE

(Translated from KukavarProxy source code)

Writing an array variable to the PLC.

 

[PREVIOUS PAGE] 26 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.5.5. MESSAGE #4. READ VARIABLE

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Retrieving the value of KRL variable or internal variable.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 4
P
A
Y
L
O
A
D		 5 2 UINT16

LVN

Length of Variable Name (in characters)
7 LVN × 2 WSTRING Variable Name

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 4
P
A
Y
L
O
A
D		 5 2 UINT16

LVV

Length of Variable Value (in characters)
7 LVV × 2 WSTRING Variable Value
F
O
O
T
E
R		 variable 2 UINT16 Error Code
variable 1 BOOL Success Flag

 

SAMPLE REQUEST

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 02 00 00 15 04 00 09 24 00 41 00 43 00 54 00 5F
00010 00 42 00 41 00 53 00 45 00              

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 512
2 2 UINT16 21
4 1 UINT8 4
P
A
Y
L
O
A
D		 5 2 UINT16 9
7 18 WSTRING $ACT_BASE

 

SAMPLE RESPONSE

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 02 00 00 08 04 00 01 31 00 00 01 01        

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 512
2 2 UINT16 8
4 1 UINT8 4
P
A
Y
L
O
A
D		 5 2 UINT16 1
7 2 WSTRING 1
F
O
O
T
E
R		 9 2 UINT16 1
11 1 BOOL TRUE

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
9 ErrorProtocol

 

INTERNAL VARIABLES

Look at section 3.5.1. MESSAGE #0. READ VARIABLE (ASCII).

[PREVIOUS PAGE] 27 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.5.6. MESSAGE #5. WRITE VARIABLE

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Writing the new value of the KRL variable.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 5
P
A
Y
L
O
A
D		 5 2 UINT16

LVN

Length of Variable Name (in characters)
7 LVN × 2 WSTRING Variable Name
variable 2 UINT16

LVV

Length of Variable Value (in characters)
variable LVV × 2 WSTRING Variable Value

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 5
P
A
Y
L
O
A
D		 5 2 UINT16

LVV

Length of Variable Value (in characters)
7 LVV × 2 WSTRING Variable Value
F
O
O
T
E
R		 variable 2 UINT16 Error Code
variable 1 BOOL Success Flag

 

SAMPLE REQUEST

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 01 00 00 15 05 00 07 24 00 4F 00 56 00 5F 00 50
00010 00 52 00 4F 00 00 01 35 00              

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 256
2 2 UINT16 21
4 1 UINT8 5
P
A
Y
L
O
A
D		 5 2 UINT16 7
7 14 WSTRING $OV_PRO
21 2 UINT16 1
23 2 WSTRING 5

 

SAMPLE RESPONSE

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 01 00 00 08 05 00 01 35 00 00 01 01        

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 256
2 2 UINT16 8
4 1 UINT8 5
P
A
Y
L
O
A
D		 5 2 UINT16 1
7 2 WSTRING 5
F
O
O
T
E
R		 9 2 UINT16 1
11 1 BOOL TRUE

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
9 ErrorProtocol
[PREVIOUS PAGE] 28 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.5.7. MESSAGE #6. READ MULTIPLE VARIABLES

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

WARNING

Do not use this function with the C3 Bridge Interface server versions lower than 1.2.0 (Open Source).

Earlier implementations did not work correctly.

 

PURPOSE

Retrieving the values of several KRL variables or internal variables.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 6
P
A
Y
L
O
A
D		 5 1 UINT8 Number of Variables
Value: 0-255
OPTIONAL
6 2 UINT16

LVN1

Length of Variable 1 (in characters)
8 LVN1 × 2 WSTRING Variable 1
...
variable 2 UINT16

LVNL

Length of Last Variable (in characters)
variable LVNL × 2 WSTRING Last Variable

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 6
P
A
Y
L
O
A
D		 5 1 UINT8 Number of Variables
6 1 UINT8

CODE1

Error code of Variable 1 request (look at section 3.3. ERROR CODES)
7 2 UINT16

LVV1

Length of Variable 1 Value (in characters)
9 LVV1 × 2 WSTRING Variable 1 Value
...
variable 1 UINT8

CODEL

Error code of Last Variable request (look at section 3.3. ERROR CODES)
variable 2 UINT16

LVVL

Length of Last Variable Value (in characters)
variable LVVL × 2 WSTRING Last Variable Value
F
O
O
T
E
R		 variable 2 UINT16 Error Code
variable 1 BOOL Success Flag

 

SAMPLE REQUEST

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 04 00 00 24 06 02 00 04 50 00 49 00 4E 00 47 00
00010 00 0B 40 00 50 00 52 00 4F 00 58 00 59 00 5F 00
00020 50 00 4F 00 52 00 54 00                

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 1024
2 2 UINT16 36
4 1 UINT8 6
P
A
Y
L
O
A
D		 5 1 UINT8 2
6 2 UINT16 4
8 8 WSTRING PING
16 2 UINT16 11
18 22 WSTRING @PROXY_PORT

 

SAMPLE RESPONSE

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 04 00 00 1B 06 02 01 00 04 50 00 4F 00 4E 00 47
00010 00 01 00 04 37 00 30 00 30 00 30 00 00 01 01  

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 1024
2 2 UINT16 27
4 1 UINT8 6
P
A
Y
L
O
A
D		 5 1 UINT8 2
6 1 UINT8 1
7 2 UINT16 4
9 8 WSTRING PONG
17 1 UINT8 1
18 2 UINT16 4
20 8 WSTRING 7000
F
O
O
T
E
R		 28 2 UINT16 1
30 1 BOOL TRUE

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
9 ErrorProtocol
10 ErrorLongAnswer

 

INTERNAL VARIABLES

Look at section 3.5.1. MESSAGE #0. READ VARIABLE (ASCII).

[PREVIOUS PAGE] 29 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.5.8. MESSAGE #7. WRITE MULTIPLE VARIABLES

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

WARNING

Do not use this function with the C3 Bridge Interface server versions lower than 1.3.0 (Open Source).

Earlier implementations did not work correctly.

 

PURPOSE

Writing new values of several KRL variables.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 7
P
A
Y
L
O
A
D		 5 1 UINT8 Number of Variables
Value: 0-255
OPTIONAL
6 2 UINT16

LVN1

Length of Variable 1 (in characters)
8 LVN1 × 2 WSTRING Variable 1
variable 2 UINT16

LVV1

Length of Variable 1 Value (in characters)
variable LVV1 × 2 WSTRING Variable 1 Value
...
variable 2 UINT16

LVNL

Length of Last Variable (in characters)
variable LVNL × 2 WSTRING Last Variable
variable 2 UINT16

LVVL

Length of Last Variable Value (in characters)
variable LVVL × 2 WSTRING Last Variable Value

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 7
P
A
Y
L
O
A
D		 5 1 UINT8 Number of Variables
6 1 UINT8

CODE1

Error code of Variable 1 request (look at section 3.3. ERROR CODES)
7 2 UINT16

LVV1

Length of Variable 1 Value (in characters)
9 LVV1 × 2 WSTRING Variable 1 Value
...
variable 1 UINT8

CODEL

Error code of Last Variable request (look at section 3.3. ERROR CODES)
variable 2 UINT16

LVVL

Length of Last Variable Value (in characters)
variable LVVL × 2 WSTRING Last Variable Value
F
O
O
T
E
R		 variable 2 UINT16 Error Code
variable 1 BOOL Success Flag

 

SAMPLE REQUEST

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 04 00 00 30 07 02 00 07 24 00 4F 00 56 00 5F 00
00010 50 00 52 00 4F 00 00 02 33 00 37 00 00 07 24 00
00020 4F 00 56 00 5F 00 4A 00 4F 00 47 00 00 03 31 00
00030 30 00 30 00                        

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 1024
2 2 UINT16 48
4 1 UINT8 7
P
A
Y
L
O
A
D		 5 1 UINT8 2
6 2 UINT16 7
8 14 WSTRING $OV_PRO
22 2 UINT16 2
24 4 WSTRING 37
28 2 UINT16 7
30 14 WSTRING $OV_JOG
44 2 UINT16 3
46 6 WSTRING 100

 

SAMPLE RESPONSE

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 04 00 00 15 07 02 01 00 02 33 00 37 00 01 00 03
00010 31 00 30 00 30 00 00 01 01              

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 1024
2 2 UINT16 21
4 1 UINT8 7
P
A
Y
L
O
A
D		 5 1 UINT8 2
6 1 UINT8 1
7 2 UINT16 2
9 4 WSTRING 37
13 1 UINT8 1
14 2 UINT16 3
16 6 WSTRING 100
F
O
O
T
E
R		 22 2 UINT16 1
24 1 BOOL TRUE

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
9 ErrorProtocol
10 ErrorLongAnswer
[PREVIOUS PAGE] 30 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.6. MESSAGES FOR KRL PROGRAM HANDLING

 

3.6.1. MESSAGE #10. PROGRAM CONTROL (SUBTYPE I)

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Reset, start, stop or cancel the KRL program.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 10
P
A
Y
L
O
A
D		 5 1 UINT8 Command code:
1 — Reset
2 — Start
3 — Stop
4 — Cancel
6 2 UINT16 Interpreter Type:
0 — Submit Interpreter
1 — Robot Interpreter

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 10
P
A
Y
L
O
A
D		 5 1 UINT8 Command code
F
O
O
T
E
R		 6 2 UINT16 Error Code
8 1 BOOL Success Flag

 

SAMPLE REQUEST

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 02 8C 00 04 0A 01 00 00                

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 652
2 2 UINT16 4
4 1 UINT8 10
P
A
Y
L
O
A
D		 5 1 UINT8 1
6 2 UINT16 0

 

SAMPLE RESPONSE

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 02 8C 00 05 0A 01 00 01 01              

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 652
2 2 UINT16 5
4 1 UINT8 10
P
A
Y
L
O
A
D		 5 1 UINT8 1
F
O
O
T
E
R		 6 2 UINT16 1
8 1 BOOL TRUE

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
[PREVIOUS PAGE] 31 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.6.2. MESSAGE #10. PROGRAM CONTROL (SUBTYPE II)

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Select or run the KRL program.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 10
P
A
Y
L
O
A
D		 5 1 UINT8 Command code:
5 — Select
6 — Run
6 2 UINT16 Interpreter Type
(NOT USED)
8 2 UINT16

LN

Length of Name (in characters)
10 LN × 2 WSTRING Name
variable 2 UINT16

LP

Length of Parameters (in characters)
variable LP × 2 WSTRING Parameters
variable 1 BOOL Force Select/Run

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 10
P
A
Y
L
O
A
D		 5 1 UINT8 Command code
F
O
O
T
E
R		 6 2 UINT16 Error Code
8 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
[PREVIOUS PAGE] 32 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.7. MESSAGES FOR MANUAL ROBOT CONTROL

 

3.7.1. MESSAGE #11. MOTION CONTROL

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Initiate a movement of type PTP, PTP_REL, LIN or LIN_REL.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 11
P
A
Y
L
O
A
D		 5 1 UINT8 Motion Type:
1 — PTP
2 — LIN
3 — PTP_REL
4 — LIN_REL
6 2 UINT16

LP

Length of Position String (in characters)
8 LP × 2 WSTRING Position String

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 11
P
A
Y
L
O
A
D		 5 1 UINT8 Motion Type
F
O
O
T
E
R		 6 2 UINT16 Error Code
8 1 BOOL Success Flag

 

SAMPLE REQUEST

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 00 80 00 4A 0B 01 00 23 7B 00 50 00 4F 00 53 00
00010 3A 00 20 00 58 00 20 00 30 00 2C 00 20 00 59 00
00020 20 00 30 00 2C 00 20 00 5A 00 20 00 30 00 2C 00
00030 20 00 41 00 20 00 30 00 2C 00 20 00 42 00 20 00
00040 30 00 2C 00 20 00 43 00 20 00 30 00 7D 00    

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 128
2 2 UINT16 74
4 1 UINT8 11
P
A
Y
L
O
A
D		 5 1 UINT8 1
6 2 UINT16 35
8 70 WSTRING {POS: X 0, Y 0, Z 0, A 0, B 0, C 0}

 

SAMPLE RESPONSE

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 00 80 00 05 0B 01 00 01 01              

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 128
2 2 UINT16 5
4 1 UINT8 11
P
A
Y
L
O
A
D		 5 1 UINT8 1
F
O
O
T
E
R		 6 2 UINT16 1
8 1 BOOL TRUE

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
[PREVIOUS PAGE] 33 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.7.2. MESSAGE #12. KCP KEY EMULATION

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Emulation of button pushing on the KCP device.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 12
P
A
Y
L
O
A
D		 5 1 UINT8 Key Type:
1 — Start Key
2 — Stop Key
3 — Jog Key
4 — 6D Space Mouse
6 4 INT32 Interpreter Type:
0 — Submit Interpreter
1 — Robot Interpreter
or
Axis Number
10 4 INT32 Key Code
14 1 BOOL Direction
15 1 BOOL Key Status:
TRUE — Released
FALSE — Pressed

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 12
P
A
Y
L
O
A
D		 5 1 UINT8 Key Type
F
O
O
T
E
R		 6 2 UINT16 Error Code
8 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
[PREVIOUS PAGE] 34 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.8. SERVICE MESSAGES

 

3.8.1. MESSAGE #13. GET PROXY INFORMATION

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Request information about the C3 Bridge Interface Server.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 13
P
A
Y
L
O
A
D		 NO PAYLOAD

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 13
P
A
Y
L
O
A
D		 5 1 UINT8 Version Major Number
6 1 UINT8 Version Minor Number
7 1 UINT8 Version Type
(look at section 1.1. SOFTWARE VERSIONING)
8 2 UINT16 Current Year
10 2 UINT16 Current Month
12 2 UINT16 Current Day of Week
14 2 UINT16 Current Day
16 2 UINT16 Current Hour (UTC)
18 2 UINT16 Current Minute (UTC)
20 2 UINT16 Current Second (UTC)
22 2 UINT16 Current Millisecond
24 2 UINT16

LCN

Length of Computer Name (in characters)
26 LCN × 2 WSTRING Computer Name
F
O
O
T
E
R		 variable 2 UINT16 Error Code
variable 1 BOOL Success Flag

 

SAMPLE REQUEST

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 00 00 00 01 0D                      

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 0
2 2 UINT16 1
4 1 UINT8 13

 

SAMPLE RESPONSE

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 00 00 00 2F 0D 01 00 00 07 E4 00 08 00 02 00 04
00010 00 08 00 38 00 06 03 79 00 0B 56 00 44 00 4D 00
00020 48 00 4F 00 53 00 54 00 54 00 45 00 53 00 54 00
00030 00 01 01                          

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 0
2 2 UINT16 47
4 1 UINT8 13
P
A
Y
L
O
A
D		 5 1 UINT8 1
6 1 UINT8 0
7 1 UINT8 0
8 2 UINT16 2020
10 2 UINT16 8
12 2 UINT16 2
14 2 UINT16 4
16 2 UINT16 8
18 2 UINT16 56
20 2 UINT16 6
22 2 UINT16 889
24 2 UINT16 11
26 22 WSTRING VDMHOSTTEST
F
O
O
T
E
R		 48 2 UINT16 1
50 1 BOOL TRUE

 

POSSIBLE ERROR CODES

Code Name
1 ErrorSuccess
[PREVIOUS PAGE] 35 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.8.2. MESSAGE #14. GET PROXY FEATURES

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Request the list of supported messages for the primary protocol of the C3 Bridge Interface Server.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 14
P
A
Y
L
O
A
D		 NO PAYLOAD

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 14
P
A
Y
L
O
A
D		 5 1 UINT8 Bit field of available messages:
from 255 to 248
6 1 UINT8 Bit field of available messages:
from 247 to 240
7 1 UINT8 Bit field of available messages:
from 239 to 232
8 1 UINT8 Bit field of available messages:
from 231 to 224
9 1 UINT8 Bit field of available messages:
from 223 to 216
10 1 UINT8 Bit field of available messages:
from 215 to 208
11 1 UINT8 Bit field of available messages:
from 207 to 200
12 1 UINT8 Bit field of available messages:
from 199 to 192
13 1 UINT8 Bit field of available messages:
from 191 to 184
14 1 UINT8 Bit field of available messages:
from 183 to 176
15 1 UINT8 Bit field of available messages:
from 175 to 168
16 1 UINT8 Bit field of available messages:
from 167 to 160
17 1 UINT8 Bit field of available messages:
from 159 to 152
18 1 UINT8 Bit field of available messages:
from 151 to 144
19 1 UINT8 Bit field of available messages:
from 143 to 136
20 1 UINT8 Bit field of available messages:
from 135 to 128
21 1 UINT8 Bit field of available messages:
from 127 to 120
22 1 UINT8 Bit field of available messages:
from 119 to 112
23 1 UINT8 Bit field of available messages:
from 111 to 104
24 1 UINT8 Bit field of available messages:
from 103 to 96
25 1 UINT8 Bit field of available messages:
from 95 to 88
26 1 UINT8 Bit field of available messages:
from 87 to 80
27 1 UINT8 Bit field of available messages:
from 79 to 72
28 1 UINT8 Bit field of available messages:
from 71 to 64
29 1 UINT8 Bit field of available messages:
from 63 to 56
30 1 UINT8 Bit field of available messages:
from 55 to 48
31 1 UINT8 Bit field of available messages:
from 47 to 40
32 1 UINT8 Bit field of available messages:
from 39 to 32
33 1 UINT8 Bit field of available messages:
from 31 to 24
34 1 UINT8 Bit field of available messages:
from 23 to 16
35 1 UINT8 Bit field of available messages:
from 15 to 8
36 1 UINT8 Bit field of available messages:
from 7 to 0
F
O
O
T
E
R		 37 2 UINT16 Error Code
39 1 BOOL Success Flag

 

SAMPLE REQUEST

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 00 00 00 01 0E                      

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 0
2 2 UINT16 1
4 1 UINT8 14

 

SAMPLE RESPONSE

  0 1 2 3 4 5 6 7 8 9 A B C D E F
00000 00 00 00 24 0E 00 00 00 00 00 00 00 00 00 00 00
00010 00 00 00 00 00 00 00 00 00 00 00 00 00 80 00 00
00020 00 00 00 7C F3 00 01 01                

 

  Offset (bytes) Size (bytes) Type Value
H
E
A
D
E
R		 0 2 UINT16 0
2 2 UINT16 36
4 1 UINT8 14
P
A
Y
L
O
A
D		 5 1 UINT8 0
6 1 UINT8 0
7 1 UINT8 0
8 1 UINT8 0
9 1 UINT8 0
10 1 UINT8 0
11 1 UINT8 0
12 1 UINT8 0
13 1 UINT8 0
14 1 UINT8 0
15 1 UINT8 0
16 1 UINT8 0
17 1 UINT8 0
18 1 UINT8 0
19 1 UINT8 0
20 1 UINT8 0
21 1 UINT8 0
22 1 UINT8 0
23 1 UINT8 0
24 1 UINT8 0
25 1 UINT8 0
26 1 UINT8 0
27 1 UINT8 0
28 1 UINT8 0
29 1 UINT8 128
30 1 UINT8 0
31 1 UINT8 0
32 1 UINT8 0
33 1 UINT8 0
34 1 UINT8 0
35 1 UINT8 124
36 1 UINT8 243
F
O
O
T
E
R		 37 2 UINT16 1
39 1 BOOL TRUE

 

POSSIBLE ERROR CODES

Code Name
1 ErrorSuccess
[PREVIOUS PAGE] 36 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.8.3. MESSAGE #15. GET PROXY INFORMATION (EXTENDED)

Minimum supported version: None

Support in KukavarProxy: No

 

This feature has not yet been implemented; the section is reserved for future use.

 

 

3.8.4. MESSAGE #16. GET CROSS3 INFORMATION

Minimum supported version: None

Support in KukavarProxy: No

 

This feature has not yet been implemented; the section is reserved for future use.

 

[PREVIOUS PAGE] 37 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.8.5. MESSAGE #17. PERFORM PROXY BENCHMARK

Minimum supported version: 1.2.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Calculation of execution time for multiple read or write operations of KRL variables.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 17
P
A
Y
L
O
A
D		 5 1 BOOL

WRITE

Type of Operation:
FALSE — Read
TRUE — Write
6 1 UINT8 Count of Variables
Value: 0-255
7 4 UINT32 Number of Iterations
Value: 0-4294967294
OPTIONAL
11 2 UINT16

LVN1

Length of Variable 1 (in characters)
13 LVN1 × 2 WSTRING Variable 1
variable 2 UINT16

LVV1

ONLY WHEN WRITE is TRUE
Length of Variable 1 Value (in characters)
variable LVV1 × 2 WSTRING ONLY WHEN WRITE is TRUE
Variable 1 Value
...
variable 2 UINT16

LVNL

Length of Last Variable (in characters)
variable LVNL × 2 WSTRING Last Variable
variable 2 UINT16

LVVL

ONLY WHEN WRITE is TRUE
Length of Last Variable Value (in characters)
variable LVVL × 2 WSTRING ONLY WHEN WRITE is TRUE
Last Variable Value

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 17
P
A
Y
L
O
A
D		 5 1 BOOL

WRITE

Type of Operation:
FALSE — Read
TRUE — Write
6 1 UINT8 Count of Variables
7 4 UINT32 Number of Iterations
11 4 UINT32 Start Time (ms)
15 4 UINT32 Stop Time (ms)
19 4 UINT32 Time Difference (ms)
F
O
O
T
E
R		 23 2 UINT16 Error Code
25 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
1 ErrorSuccess
9 ErrorProtocol
[PREVIOUS PAGE] 38 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9. MESSAGES FOR FILE OPERATIONS

 

3.9.1. CONSTANT VALUES

This section lists the basic constants used in file system operations.

 

3.9.1.1. Item Attributes

Value Name
0 None
1 Read Only
2 Hidden
4 System
16 Directory
32 Archive
16 384 Encrypted
268 435 456 Signed

 

3.9.1.2. Item Types

Value Name
0 Unknown
1 Directory
2 Virtual Directory
4 Archive
8 Binary File
16 Text File
32 Module
64 Raw
128 Motion File
256 Protected File Container

 

3.9.1.3. Item List Flags

Value Name
0 None
1 Recursive
2 Expand
4 Long
8 Old Long
16 No PFC
32 PFC as File
64 ZIP as File

 

3.9.1.4. Module Parts

Value Name
0 Unknown
1 SUB
2 SRC
4 DAT
5 SUBDAT
6 SRCDAT
8 Template
16 Motion

 

3.9.1.5. Copy Flags

Value Name
0 None
1 Archive
3 Modify
4 Continue
8 Recursive
16 Refresh
48 Update
64 Overwrite Exists
128 No Directory Entries
256 Junk Directory
512 Force Binary
1024 Force Text
2048 No Version Check
4096 Overwrite Read
8192 No KRL Analysis

 

3.9.1.6. Item Property Flags

Value Name
0 None
1 Type
2 Name
4 Size
8 Attributes
16 Creation Time
32 Access Time
64 Modified Time
128 Edit Mode
255 All

 

3.9.1.7. Edit Modes

Value Name
-1 Unknown
0 Full Edit
1 DatKor
2 ProKor
3 Read Only

 

3.9.1.8. File IO Operations

Value Name
0 None
1 Begin Operation
2 Data Transfer
3 Get Data Size
4 End Operation
5 Get Data Checksum
[PREVIOUS PAGE] 39 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.2. MESSAGE #20. SET FILE ATTRIBUTES

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

Changes file attributes.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 20
P
A
Y
L
O
A
D		 5 4 INT32 Attributes
3.9.1.1. Item Attributes
9 4 INT32 Mask
3.9.1.1. Item Attributes
13 2 UINT16

LN

Length of Name (in characters)
15 LN × 2 WSTRING Name

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 20
P
A
Y
L
O
A
D		 NO PAYLOAD
F
O
O
T
E
R		 5 2 UINT16 Error Code
7 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
[PREVIOUS PAGE] 40 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.3. MESSAGE #21. LIST DIRECTORY CONTENTS

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

Get a list of files and subdirectories in a directory.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 21
P
A
Y
L
O
A
D		 5 4 INT32 Item Type
3.9.1.2. Item Types
9 4 INT32 Flags
3.9.1.3. Item List Flags
13 2 UINT16

LP

Length of Path (in characters)
15 LP × 2 WSTRING Path

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 21
P
A
Y
L
O
A
D		 5 2 UINT16 Count of Items
7 2 UINT16

IL1

Length of First Item
9 IL1 × 2 WSTRING First Item
...
variable 2 UINT16

ILL

Length of Last Item
variable ILL × 2 WSTRING Last Item
variable 2 UINT16 Count of Item Infos
variable 2 UINT16

IIL1

Length of First Item Info
variable IIL1 × 2 WSTRING First Item Info
...
variable 2 UINT16

IILL

Length of Last Item Info
variable IILL × 2 WSTRING Last Item Info
F
O
O
T
E
R		 variable 2 UINT16 Error Code
variable 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
10 ErrorLongAnswer
[PREVIOUS PAGE] 41 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.4. MESSAGE #22. CREATE NEW FILE

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

Create a new text file, binary file or KRL module.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 22
P
A
Y
L
O
A
D		 5 2 UINT16 Item Type
3.9.1.2. Item Types
7 1 UINT8 Module Part
3.9.1.4. Module Parts
8 1 BOOL Always Create
9 2 UINT16

LN

Length of Name (in characters)
11 LN × 2 WSTRING Name
variable 2 UINT16

LTP

Length of Template (in characters)
variable LTP × 2 WSTRING Template

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 22
P
A
Y
L
O
A
D		 NO PAYLOAD
F
O
O
T
E
R		 5 2 UINT16 Error Code
7 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
[PREVIOUS PAGE] 42 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.5. MESSAGE #23. DELETE FILE

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

Delete a file.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 23
P
A
Y
L
O
A
D		 5 1 BOOL Always Delete
6 2 UINT16

LN

Length of Name (in characters)
8 LN × 2 WSTRING Name

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 23
P
A
Y
L
O
A
D		 NO PAYLOAD
F
O
O
T
E
R		 5 2 UINT16 Error Code
7 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
[PREVIOUS PAGE] 43 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.6. MESSAGE #24. COPY FILE

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

Copy a file to another location.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 24
P
A
Y
L
O
A
D		 5 4 INT32 Flags
3.9.1.5. Copy Flags
9 2 UINT16

LS

Length of Source (in characters)
11 LS × 2 WSTRING Source
variable 2 UINT16

LD

Length of Destination (in characters)
variable LD × 2 WSTRING Destination

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 24
P
A
Y
L
O
A
D		 NO PAYLOAD
F
O
O
T
E
R		 5 2 UINT16 Error Code
7 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
[PREVIOUS PAGE] 44 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.7. MESSAGE #25. MOVE FILE

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

Move a file to another location.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 25
P
A
Y
L
O
A
D		 5 4 INT32 Flags
3.9.1.5. Copy Flags
9 2 UINT16

LS

Length of Source (in characters)
11 LS × 2 WSTRING Source
variable 2 UINT16

LD

Length of Destination (in characters)
variable LD × 2 WSTRING Destination

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 25
P
A
Y
L
O
A
D		 NO PAYLOAD
F
O
O
T
E
R		 5 2 UINT16 Error Code
7 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
[PREVIOUS PAGE] 45 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.8. MESSAGE #26. GET FILE PROPERTIES

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

Getting a file's type, attributes, size and time.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 26
P
A
Y
L
O
A
D		 5 4 INT32 Flags
3.9.1.6. Item Property Flags
9 2 UINT16

LN

Length of Name (in characters)
11 LN × 2 WSTRING Name

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 26
P
A
Y
L
O
A
D		 5 4 INT32 Item Type
3.9.1.2. Item Types
9 4 INT32 Item Size (Low Part)
13 4 INT32 Item Size (High Part)
17 4 INT32 Attributes
3.9.1.1. Item Attributes
21 4 INT32 Creation Time (Low Part)
A Windows file creation time expressed in ticks
25 4 INT32 Creation Time (High Part)
29 4 INT32 Creation Time Bias (minutes)
33 4 INT32 Access Time (Low Part)
A Windows file last access time expressed in ticks
37 4 INT32 Access Time (High Part)
41 4 INT32 Access Time Bias (minutes)
45 4 INT32 Modified Time (Low Part)
A Windows file last modification time expressed in ticks
49 4 INT32 Modified Time (High Part)
53 4 INT32 Modified Time Bias (minutes)
57 4 INT32 Edit Mode
3.9.1.7. Edit Modes
61 2 UINT16

LN

Length of Item Name (in characters)
63 LN × 2 WSTRING Item Name
F
O
O
T
E
R		 variable 2 UINT16 Error Code
variable 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
9 ErrorProtocol
[PREVIOUS PAGE] 46 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.9. MESSAGE #27. GET FILE FULL PATH

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

Getting the full path to a file.

For example, the path "/R1/TEST.SRC" will be converted to "KRC:\R1\PROGRAM\TEST.SRC".

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 27
P
A
Y
L
O
A
D		 5 2 UINT16

LP

Length of File Path (in characters)
7 LP × 2 WSTRING File Path

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 27
P
A
Y
L
O
A
D		 5 2 UINT16

LP

Length of Output Path (in characters)
7 LP × 2 WSTRING Output Path
F
O
O
T
E
R		 variable 2 UINT16 Error Code
variable 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
9 ErrorProtocol
[PREVIOUS PAGE] 47 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.10. MESSAGE #28. GET KRC PATH

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

Getting the KRC path to a file.

For example, the path "KRC:\R1\PROGRAM\TEST.SRC" will be converted to "/R1/TEST.SRC".

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 28
P
A
Y
L
O
A
D		 5 2 UINT16

LP

Length of File Path (in characters)
7 LP × 2 WSTRING File Path

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 28
P
A
Y
L
O
A
D		 5 2 UINT16

LP

Length of Output Path (in characters)
7 LP × 2 WSTRING Output Path
F
O
O
T
E
R		 variable 2 UINT16 Error Code
variable 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
9 ErrorProtocol
[PREVIOUS PAGE] 48 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.11. MESSAGE #29. WRITE FILE CONTENT (BEGINNING)

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

FileIoBegin: Creates a new buffer of a given size for further data writing to it. Any previously created buffer is destroyed along with the data.

FileIoGetSize: Specifies the size of a previously allocated buffer, or 0 if no buffer exists.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 29
P
A
Y
L
O
A
D		 5 1 UINT8

OPERATION

3.9.1.8. File IO Operations
1 — FileIoBegin
3 — FileIoGetSize
6 4 UINT32 ONLY WHEN OPERATION is 1
Total Size (in bytes)

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 29
P
A
Y
L
O
A
D		 5 1 UINT8 Operation
6 4 UINT32 Buffer Size
F
O
O
T
E
R		 10 2 UINT16 Error Code
12 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
[PREVIOUS PAGE] 49 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.12. MESSAGE #29. WRITE FILE CONTENT (DATA CHUNK)

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

FileIoData: Writes a chunk of data of a certain size to the buffer at the specified offset.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 29
P
A
Y
L
O
A
D		 5 1 UINT8

OPERATION

3.9.1.8. File IO Operations
2 — FileIoData
6 4 UINT32 Offset (in bytes)
10 4 UINT32

SIZE

Chunk Size (in bytes)
14 SIZE BINARY Chunk Data

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 29
P
A
Y
L
O
A
D		 5 1 UINT8 Operation
Value: 2
6 4 UINT32 Offset (in bytes)
10 4 UINT32 Size of Bytes Written
F
O
O
T
E
R		 14 2 UINT16 Error Code
16 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
[PREVIOUS PAGE] 50 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.13. MESSAGE #29. WRITE FILE CONTENT (CHECKSUM)

Minimum supported version: None

Support in KukavarProxy: No

 

This feature has not yet been implemented; the section is reserved for future use.

 

[PREVIOUS PAGE] 51 [NEXT PAGE] [UP] [CONTENTS] [HOME]

3.9.14. MESSAGE #29. WRITE FILE CONTENT (FINAL)

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

FileIoEnd: Writes the contents of the buffer to a file on disk.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 29
P
A
Y
L
O
A
D		 5 1 UINT8

OPERATION

3.9.1.8. File IO Operations
4 — FileIoEnd
6 4 INT32 Flags
3.9.1.5. Copy Flags
10 2 UINT16

LN

Length of File Name (in characters)
12 LN × 2 WSTRING File Name

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 29
P
A
Y
L
O
A
D		 5 1 UINT8 Operation
Value: 4
F
O
O
T
E
R		 6 2 UINT16 Error Code
8 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
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3.9.15. MESSAGE #30. READ FILE CONTENT (BEGINNING)

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

FileIoBegin: Transfers the contents of a file on disk to the read buffer and returns its size.

FileIoGetSize: Specifies the size of the read buffer, or 0 if no buffer exists.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 30
P
A
Y
L
O
A
D		 5 1 UINT8

OPERATION

3.9.1.8. File IO Operations
1 — FileIoBegin
3 — FileIoGetSize
ONLY WHEN OPERATION is 1
6 4 INT32 Flags
3.9.1.5. Copy Flags
10 4 UINT32

LN

Flags
Length of File Name (in characters)
14 LN × 2 WSTRING File Name

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 30
P
A
Y
L
O
A
D		 5 1 UINT8 Operation
6 4 UINT32 Buffer Size
F
O
O
T
E
R		 10 2 UINT16 Error Code
12 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
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3.9.16. MESSAGE #30. READ FILE CONTENT (DATA CHUNK)

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

FileIoData: Reads a data fragment of the specified size into the buffer at the specified offset.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 30
P
A
Y
L
O
A
D		 5 1 UINT8

OPERATION

3.9.1.8. File IO Operations
2 — FileIoData
6 4 UINT32 Offset (in bytes)
10 4 UINT32 Maximum Chunk Size (in bytes)
This value can be FFFFFFFFh to read the largest amount of data at the time.

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 30
P
A
Y
L
O
A
D		 5 1 UINT8 Operation
Value: 2
6 4 UINT32 Offset (in bytes)
10 4 UINT32

SIZE

Size of Bytes Read
14 SIZE BINARY Chunk Data
F
O
O
T
E
R		 variable 2 UINT16 Error Code
variable 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
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3.9.17. MESSAGE #30. READ FILE CONTENT (CHECKSUM)

Minimum supported version: None

Support in KukavarProxy: No

 

This feature has not yet been implemented; the section is reserved for future use.

 

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3.9.18. MESSAGE #30. READ FILE CONTENT (FINAL)

Minimum supported version: 1.1.2 (Freeware)

Support in KukavarProxy: No

 

PURPOSE

FileIoEnd: Clearing the read buffer and freeing the memory.

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 30
P
A
Y
L
O
A
D		 5 1 UINT8

OPERATION

3.9.1.8. File IO Operations
4 — FileIoEnd

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 30
P
A
Y
L
O
A
D		 5 1 UINT8 Operation
Value: 4
F
O
O
T
E
R		 6 2 UINT16 Error Code
8 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
7 ErrorNotImplemented
9 ErrorProtocol
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3.10. MESSAGES FOR CROSSCOMMEXE COMPATIBILITY

 

3.10.1. MESSAGE #63. CONFIRM ALL

Minimum supported version: 1.0.0 (Open Source)

Support in KukavarProxy: No

 

PURPOSE

Reset all errors on the KRC (emulation of pressing the Confirm All button).

 

REQUEST

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 63
P
A
Y
L
O
A
D		 NO PAYLOAD

 

RESPONSE

  Offset (bytes) Size (bytes) Type Meaning
H
E
A
D
E
R		 0 2 UINT16 Tag ID
2 2 UINT16 Message Length
4 1 UINT8 Message Type
Value: 63
P
A
Y
L
O
A
D		 NO PAYLOAD
F
O
O
T
E
R		 5 2 UINT16 Error Code
7 1 BOOL Success Flag

 

POSSIBLE ERROR CODES

Code Name
0 ErrorGeneral
1 ErrorSuccess
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