KPC – KUKA PC
The central processing unit consists of two independent processor cores (Intel dual-core).
In addition to running three other controller-related instance libraries on each processor core, it also runs an independent safety instance library.
Core 1: VxWorks, Windows, Safe A
Core 2: RC (Robot Control), Safe B
Windows 7 operating system and VxWorks require RAM memory.
The KUKA virtual network card is managed by VxWorks.
KLI (virtual5) always communicates with the VxWorks side.
SM shared storage driver, virtual network interface between VxWorks and Windows.
vnet0 is the logical virtual interface from VxWorks to the Windows layer.
In the standard supply scheme, KLI is preset to a static IP address of 172.31.1.147.
VxWorks is a multitasking environment, and any executing program can be referred to as a task.
Each task has its own context. The context is stored in the task control block and is the CPU’s environmental resources and system resources that need to be checked when the task is switched to the running state. A task’s context includes: task program counter, CPU registers and floating-point registers, dynamic variables and the stack of the called functions, standard input/output I/O allocation, delay time, time slice size, kernel control structures, signal handling, debugging, and performance monitoring.
—– Files for communication between VXWORKS and WINDOWS:—Knet.config file————-
RtosConfig;———————————————————————–; KUKA Roboter GmbH;; Configuration of host IP address mapping
; (Will be retained during KRC updates);;———————————————————————–;———————————————————————–; Configuration of host IP address mapping
; The mappings defined here refer to dedicated network connections
; Windows and VxWorks communicate via the Vnet network driver.
; Format: ; “” = “;———————————————————————–[HostTable] “WINDOWS” = “192.168.0.1” “VXWORKS” = “192.168.0.2”
1.[HostTable]
“WINDOWS” = “192.168.0.1” IP address of Windows “VXWORKS” = “192.168.0.2” IP address of VxWORKS
—————-END——————-
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