Kuka KUKA.EthernetKRL 2.2, Manual

Page: 44 / 79

44 / 79
Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
KUKA.EthernetKRL 2.2
7.2 Configuration and program examples
7.2.1 BinaryFixed configuration example
The EKI is configured as a client. Only binary data records with a fixed length
of 10 bytes and the element name "Buffer" can be received via the connection.
The server program sends a data record. $FLAG[1] is set if the interface has
received external data.
XML file
Binary data records of fixed length must be read into and out of the KRL pro-
gram with CAST_TO() and CAST_FROM(). Only data of REAL type (4 bytes)
are legible, not Double.
Element Description
Example Select example data.
 Xml
: XML data
 BinaryFixed
: binary data of fixed length
 BinaryStream
: variable binary data stream with
end string
Default value:
xml
Autoresponder Select communication mode.
 Autoreply
: The server automatically responds to
each data package received.
 Manual
: only manual data reception or data trans-
mission
Default value:
Autoreply
Portnumber Enter the port number of the socket connection.
The external system awaits the connection request from
the robot controller at this port. A free number that is not
assigned a standard service must be selected.
Default value:
59152
Network inter-
face card index: Enter the number of the network adapter.
Only relevant if the external system uses several net-
work cards, e.g. WLAN and LAN.
Default value:
0
For communication with the robot controller, the appropriate example
data must have been set in the server program; in this case
Binary-
Fixed
.
<ETHERNETKRL>
<CONFIGURATION>
<EXTERNAL>
<IP>x.x.x.x</IP>
<PORT>59152</PORT>
</EXTERNAL>
</CONFIGURATION>
<RECEIVE>
<RAW>
<ELEMENT Tag="Buffer" Type="BYTE" Set_Flag="1" Size="10" />
</RAW>
</RECEIVE>
<SEND />
</ETHERNETKRL>