27 / 79Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
6 Programming
6.1.4 Configuration according to the XPath schema
Description If XML is used to exchange data, it is necessary for the exchanged XML doc-
uments to be structured in the same way. EthernetKRL uses the XPath sche-
ma to write and read the XML documents.
The following cases are to be distinguished for XPath:
Writing and reading elements
Writing and reading attributes
Element notation
Saved XML document for data transmission:
Configured XML structure for data transmission:
Attribute notation
Saved XML document for data transmission:
Configured XML structure for data transmission:
6.2 Functions for data exchange
Overview EthernetKRL provides functions for data exchange between the robot control-
ler and an external system.
Exact descriptions of the functions can be found in the appendix.
(>>> 9.4 "Command reference" Page 60)
<Robot>
<Mode>...</Mode>
<RobotLamp>
<GrenLamp>
<LightOn>...</LightOn>
</GrenLamp>
</RobotLamp>
</Robot>
<SEND>
<XML>
<ELEMENT Tag="Robot/Mode" />
<ELEMENT Tag="Robot/RobotLamp/GrenLamp/LightOn" />
</XML>
<SEND />
<Robot>
<Data>
<ActPos X="...">
</ActPos>
<LastPos A="..." B="..." C="..." X="..." Y="..." Z="...">
</LastPos>
</Data>
</Robot>
<SEND>
<XML>
<ELEMENT Tag="Robot/Data/LastPos/@X" />
<ELEMENT Tag="Robot/Data/LastPos/@Y" />
...
<ELEMENT Tag="Robot/Data/ActPos/@X" />
</XML>
<SEND />
Initializing, opening, closing and clearing a connection
EKI_STATUS = EKI_Init(CHAR[])
EKI_STATUS = EKI_Open(CHAR[])
EKI_STATUS = EKI_Close(CHAR[])
EKI_STATUS = EKI_Clear(CHAR[])
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