Kuka KUKA.EthernetKRL 2.2, Manual

Page: 37 / 79

37 / 79 Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
6 Programming
Event output
$OUT[23] is set as long as the connection to the external system is active.
$OUT[23] is reset when the connection is no longer active.
Event flag
The XML structure <XY /> contains the “XY/@x” and “XY/@z” data elements.
$FLAG[1] is set since the complete XML structure has arrived at the interface.
$FLAG[2] is set since the “x” element is contained in “XY”. $FLAG[3] is not set
since the “y” element has not been transferred.
Example
6.2.9 Reception of complete XML data records
Description
The EKI_Get...() access functions are disabled until all data of an XML data
record are in the memory.
If LIFO is configured and two or more XML data records arrive at the interface
directly in succession, it is no longer ensured that a data record can be fetched
in a non-fragmented condition from the memory. It may, for example, be the
case that the data of the second data record are already stored in the memory
although the first data record has not yet been completely processed. The data
record available in the KRL is inconsistent since, in LIFO mode, the data saved
last are always accessed first.
To prevent the fragmentation of data records in LIFO mode, the processing of
newly received data must be disabled until all data belonging together have
been fetched from the memory.
Fig. 6-4: Event output (active connection)
The connection can be restored only with the EKI_OPEN() function.
Fig. 6-5: Event flag (complete XML structure)