Kuka KUKA.EthernetKRL 2.2, Manual

Page: 47 / 79

47 / 79 Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
7 Examples
XML file
Program
<ETHERNETKRL>
<CONFIGURATION>
<EXTERNAL>
<IP>x.x.x.x</IP>
<PORT>59152</PORT>
</EXTERNAL>
</CONFIGURATION>
<RECEIVE>
<XML>
<ELEMENT Tag="Sensor/Message" Type="STRING" />
<ELEMENT Tag="Sensor/Positions/Current/@X" Type="REAL" />
<ELEMENT Tag="Sensor/Positions/Before/X" Type="REAL" />
<ELEMENT Tag="Sensor/Nmb" Type="INT" />
<ELEMENT Tag="Sensor/Status/IsActive" Type="BOOL" />
<ELEMENT Tag="Sensor/Read/xyzabc" Type="FRAME" />
<ELEMENT Tag="Sensor/Show/@error" Type="BOOL" />
<ELEMENT Tag="Sensor/Show/@temp" Type="INT" />
<ELEMENT Tag="Sensor/Show" Type="STRING" />
<ELEMENT Tag="Sensor/Free" Type="INT" />
</XML>
</RECEIVE>
<SEND>
<XML>
<ELEMENT Tag="Robot/Data/LastPos/@X" />
<ELEMENT Tag="Robot/Data/LastPos/@Y" />
<ELEMENT Tag="Robot/Data/LastPos/@Z" />
<ELEMENT Tag="Robot/Data/LastPos/@A" />
<ELEMENT Tag="Robot/Data/LastPos/@B" />
<ELEMENT Tag="Robot/Data/LastPos/@C" />
<ELEMENT Tag="Robot/Data/ActPos/@X" />
<ELEMENT Tag="Robot/Status" />
<ELEMENT Tag="Robot/Mode" />
<ELEMENT Tag="Robot/RobotLamp/GrenLamp/LightOn" />
</XML>
<SEND />
</ETHERNETKRL>
1 DEF XmlTransmit( )
2 Declaration
3 Communicated data
4 INI
5 Initialize sample data
6
7 RET=EKI_Init("XmlTransmit")
8 RET=EKI_Open("XmlTransmit")
9
10 Write data to connection
11 Send data to external program
12 Get received sensor data
13
14 RET=EKI_Close("XmlTransmit")
15 RET=EKI_Clear("XmlTransmit")
16
17 END
Line Description
5 Initialization of KRL variables by the assignment of values
7 EKI_Init() initializes the channel used by the interface to con-
nect to the external system.
8 EKI_Open() opens the channel and connects to the external
system.
10 Writes data in the saved XML document for data transmission.
11 Sends the written XML document to the external system.
12 Reads the received sensor data out of the memory.
14 EKI_Close() closes the channel.
15 EKI_Clear() clears the channel.