26 / 79
Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
Examples
6.1.3
XML structure for data transmission
Description
The configuration depends on whether XML data or binary data are sent.
An XML structure has to be defined for the transmission of XML data:
<XML> … </XML>
The transmission of binary data is implemented directly in the KRL pro-
gramming. No configuration has to be specified.
Attribute in the elements of the XML structure <XML> … </XML>:
Example
<RECEIVE>
<XML>
<ELEMENT Tag="Ext/Str" Type="STRING"/>
<ELEMENT Tag="Ext/Pos/XPos" Type="REAL" Mode="LIFO"/>
<ELEMENT Tag="Ext/Pos/YPos" Type="REAL"/>
<ELEMENT Tag="Ext/Pos/ZPos" Type="REAL"/>
<ELEMENT Tag="Ext/Temp/Cpu" Type="REAL" Set_Out="1"/>
<ELEMENT Tag="Ext/Temp/Fan" Type="REAL" Set_Flag="14"/>
<ELEMENT Tag="Ext/Integer/AState" Type="INT"/>
<ELEMENT Tag="Ext/Integer/BState" Type="INT"/>
<ELEMENT Tag="Ext/Boolean/CState" Type="BOOL"/>
<ELEMENT Tag="Ext/Frames/Frame1" Type="FRAME"/>
<ELEMENT Tag="Ext/Attributes/@A1" Type="STRING"/>
<ELEMENT Tag="Ext/Attributes/@A2" Type="INT"/>
<ELEMENT Tag="Ext" Set_Flag="56"/>
</XML>
</RECEIVE>
<RECEIVE>
<RAW>
<ELEMENT Tag="RawData" Type="BYTE" Size="1408"
Set_Flag="14"/>
</RAW>
</RECEIVE>
<RECEIVE>
<RAW>
<ELEMENT Tag="MyStream" Type="STREAM" EOS="123,134,21"
Size="836" Set_Flag="14"/>
</RAW>
</RECEIVE>
For transmission, the XML structure is created in the sequence in
which it is configured.
Attribute
Description
Tag
Name of the element
The XML structure for data transmission is defined
here (XPath).
<SEND>
<XML>
<ELEMENT Tag="Robot/Data/ActPos/@X"/>
<ELEMENT Tag="Robot/Data/ActPos/@Y"/>
<ELEMENT Tag="Robot/Data/ActPos/@Z"/>
<ELEMENT Tag="Robot/Data/ActPos/@A"/>
<ELEMENT Tag="Robot/Data/ActPos/@B"/>
<ELEMENT Tag="Robot/Data/ActPos/@C"/>
<ELEMENT Tag="Robot/Status"/>
<ELEMENT Tag="Robot/Mode"/>
<ELEMENT Tag="Robot/Complex/Tickcount"/>
<ELEMENT Tag="Robot/RobotType/Robot/Type"/>
</XML>
</SEND>
Summary of Contents for KUKA.EthernetKRL 2.2
Page 8: ...8 79 Issued 19 12 2012 Version KST EthernetKRL 2 2 V1 en PDF KUKA EthernetKRL 2 2 ...
Page 16: ...16 79 Issued 19 12 2012 Version KST EthernetKRL 2 2 V1 en PDF KUKA EthernetKRL 2 2 ...
Page 20: ...20 79 Issued 19 12 2012 Version KST EthernetKRL 2 2 V1 en PDF KUKA EthernetKRL 2 2 ...
Page 40: ...40 79 Issued 19 12 2012 Version KST EthernetKRL 2 2 V1 en PDF KUKA EthernetKRL 2 2 ...
Page 52: ...52 79 Issued 19 12 2012 Version KST EthernetKRL 2 2 V1 en PDF KUKA EthernetKRL 2 2 ...
Page 58: ...58 79 Issued 19 12 2012 Version KST EthernetKRL 2 2 V1 en PDF KUKA EthernetKRL 2 2 ...
Page 76: ...76 79 Issued 19 12 2012 Version KST EthernetKRL 2 2 V1 en PDF KUKA EthernetKRL 2 2 ...
Page 79: ...79 79 Issued 19 12 2012 Version KST EthernetKRL 2 2 V1 en PDF KUKA EthernetKRL 2 2 ...