Kuka KUKA.EthernetKRL 2.2, Manual

Page: 9 / 79

9 / 79 Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
2 Product description
2 Product description
2.1 Overview of EthernetKRL
Functions
EthernetKRL is an add-on technology package with the following functions:

Data exchange via the EthernetKRL interface

Receiving XML data from an external system

Sending XML data to an external system

Receiving binary data from an external system

Sending binary data to an external system
Features 
Robot controller and external system as a client or server

Configuration of connections via XML-based configuration file

Configuration of “event messages”

Monitoring of connections by a ping on the external system

Reading and writing data from the Submit interpreter

Reading and writing data from the robot interpreter
Communication
Data are transmitted via the TCP/IP protocol. It is possible to use the UDP/IP
protocol, but not recommended (connectionless network protocol, e.g. no data
loss detection).
The communication time depends on the actions programmed in KRL and the
data volume sent. Up to 2 ms package circulation time may be reached in
KRL, depending on the programming method.
2.2 Configuration of an Ethernet connection
Description
The Ethernet connection is configured via an XML file. A configuration file
must be defined for each connection in the directory C:\KRC\ROBOTER\Con-
fig\User\Common\EthernetKRL of the robot controller. The configuration is
read in when initializing a connection.
Ethernet connections can be created and operated by the robot interpreter or
Submit interpreter. The channels can be used crosswise, e.g. a channel
opened in the Submit interpreter can also be operated by the robot interpreter.
The deletion of a connection can be linked to robot interpreter and Submit in-
terpreter actions or system actions.
2.2.1 Behavior in the event of a lost connection
Description
The following properties and functions of the EKI ensure the received data can
be processed reliably:

A connection is automatically closed when reaching the limit of a data
memory.

A connection is automatically closed if a data reception error occurs.

The data memories continue to be read out with the connection closed.

If a connection is lost, it can be restored without any influence on the saved
data.

A lost connection can be indicated, for example, by a flag.

The error message for the error which caused a lost connection can be dis-
played on the smartHMI.