Kuka KUKA.EthernetKRL 2.2, Руководство пользователя

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31 / 79 Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
6 Programming
It should be taken into account during programming whether the interface is
configured as a server or client.
Server mode
EKI_Open() sets the interface (= server) to a listening state if the external sys-
tem is configured as a client. The server waits for the connection request of a
client without interruption of the program run. If the <TIMEOUT Connect="…"/
> element is not assigned data in the configuration file, the server waits until a
client requests a connection.
A connection request by a client is indicated by access to the interface or by
an event message, e.g. via the <ALIVE SET_OUT="..."/> element.
An event flag or output has to be programmed, e.g. WAIT FOR $OUT[...], if the
program run is to be interrupted as long as the server waits for the connection
request.
Client mode
EKI_Open() interrupts the program run until the connection to the external sys-
tem is active if the external system is configured as a server. EKI_Close() clos-
es the connection to the external server.
6.2.4 Sending data
Description
Depending on the configuration and programming, the following data can be
sent with EKI_Send():

Complete XML structure

Partial XML structure

XML data directly as string

Binary data record with end string (EOS) directly as string

Binary data record of fixed length directly as string
Binary data records of fixed length must be read into the KRL program with
CAST_TO(). Only data of REAL type (4 bytes) are legible, not Double.
1 DEF Connection()
...
2 RET=EKI_Init("Connection")
3 RET=EKI_Open("Connection")
...
4 Write data, send data or get received data
...
5 RET=EKI_Close("Connection")
6 RET=EKI_Clear("Connection")
...
7 END
Line Description
2 EKI_Init() initializes the channel used by the interface to con-
nect to the external system.
3 EKI_Open() opens the channel.
4 KRL instructions used to write data in the memory, send data
or access received data
5 EKI_Close() closes the channel.
6 EKI_Clear () deletes the channel.
It is recommended not to use EKI_Close() in server mode. In server
mode, the channel is closed from the external client.
Detailed information on the CAST_TO() command can be found in
the CREAD/CWRITE documentation.