Festo SBO***-Q Series, Руководство пользователя

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A. Technical appendix
A-57
Festo P.BE-SBO-Q-EN en 1602e
Example of the “SBO_Sensor.xml” structure file
<Elements>
<Element Tag=”Camera” Type=”STRUCTTAG”
Stacksize=”5”/>
<Element Tag=”Camera.CommandResultCode” Type=”INTEGER”
Stacksize=”5”/>
<Element Tag=”Camera.CommandResultText” Type=”STRING”
Stacksize=”5”/>
<Element Tag=”Camera.DataResult_RFW” Type=”STRING”
Stacksize=”5”/>
<Element Tag=”Camera.DataResult_RSTR” Type=”STRING”
Stacksize=”5”/>
<Element Tag=”Camera.DataResult_RNV” Type=”STRING”
Stacksize=”5”/>
<Element Tag=”Camera.DataResult_RDO” Type=”STRUCTTAG”
Stacksize=”5”/>
<Element Tag=”Camera.DataResult_RDO.Positions” Type=”STRUCTTAG”
Stacksize=”5”/>
<Element Tag=”Camera.DataResult_RDO.Positions.float32_1” Type=”REAL”
Stacksize=”5”/>
<Element Tag=”Camera.DataResult_RDO.Positions.float32_2” Type=”REAL”
Stacksize=”5”/>
<Element Tag=”Camera.DataResult_RDO.Positions.float32_3” Type=”REAL”
Stacksize=”5”/>
</Elements>
Demo program
The following program code shows as an example a function
library for communication between the KUKA robot controller
and the Compact Vision System via XML Telnet.
Note
Commands from the robot controller to the Compact Vision
System must NOT be XML-formatted.
Responses from the Compact Vision System to the robot
controller, conversely, are always XML-formatted
(
è
chapter 4.10.10, Structure specification file).
The program code here is limited to the content relevant for
the demo.