Kuka KUKA.EthernetKRL 2.2 - 6 Programming; 6.1 Ethernet Connection Configuration

21 / 79Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
6 Programming
6Programming
6.1 Configuring an Ethernet connection
Overview An Ethernet connection is configured via an XML file. A configuration file must
be defined for each connection in the directory C:\KRC\ROBOTER\Config\Us-
er\Common\EthernetKRL of the robot controller.
The name of the XML file is also the access key in KRL.
Example: …\EXT.XML —> EKI_INIT("EXT")
6.1.1 XML structure for connection properties
Description The settings for the external system are defined in the section <EXTERNAL>
… </EXTERNAL>:
XML files are case-sensitive. Upper/lower case must be taken into
consideration.
<ETHERNETKRL>
<CONFIGURATION>
<EXTERNAL></EXTERNAL>
<INTERNAL></INTERNAL>
</CONFIGURATION>
<RECEIVE>
<ELEMENTS></ELEMENTS>
</RECEIVE>
<SEND>
<ELEMENTS></ELEMENTS>
</SEND>
</ETHERNETKRL>
Section Description
<CONFIGURATION>
…
</CONFIGURATION>
Configuration of the connection parameters
between an external system and an inter-
face
(>>> 6.1.1 "XML structure for connection
properties" Page 21)
<RECEIVE>
…
</RECEIVE>
Configuration of the reception structure
received by the robot controller
(>>> 6.1.2 "XML structure for data recep-
tion" Page 24)
<SEND>
…
</SEND>
Configuration of the transmission structure
sent by the robot controller
(>>> 6.1.3 "XML structure for data trans-
mission" Page 26)
Element Description
TYPE Defines whether the external system is to communicate
as a server or client with the interface (optional)
 Server: external system is a server.
 Client: external system is a client.
Default value: server