Kuka KUKA.EthernetKRL 2.2, Manual

Page: 13 / 79

13 / 79 Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
2 Product description
The two binary variants cannot be operated simultaneously at the same con-
nection.
The following combinations are possible:
Examples
2.7 Event messages
Description
The following events can be signaled by setting an output or flag:

Connection is active.

An individual XML element has arrived at the interface.

A complete XML structure or complete binary data record has arrived at
the interface.
( >>> 6.2.8 "Configuration of event messages" Page 36)
2.8 Error treatment
Description
EthernetKRL provides functions for data exchange between the robot control-
ler and an external system.
Each of these functions returns values. These return values can be queried
and evaluated in the KRL program.
The following values are returned, depending on the function:

Error number

Number of elements still in the memory after the access.

Number of elements read out of the memory
Fig. 2-6: Protocol types
Connection C
x
C1 C2 C3 C4 C5
Binary, fixed
Binary, variable
XML
Fig. 2-7: Binary data of fixed length (10 bytes)
Fig. 2-8: Variable binary data with end string