Kuka KUKA.EthernetKRL 2.2 - 6.2.1 Programming Tips

28 / 79 Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
KUKA.EthernetKRL 2.2
6.2.1 Programming tips
 The following points should be observed if a connection is created in the
Submit interpreter:
 The <ENVIRONMENT> element must be used in the connection con-
figuration to specify that the channel concerned is a Submit channel.
 An open channel in the Submit interpreter can also be addressed by
the robot interpreter.
 If the Submit interpreter is deselected, the connection is automatically
deleted by means of the configuration.
 If an EKI instruction is to be executed in the main run, instructions must be
used which trigger an advance run stop, e.g. WAIT SEC.
 Since each access to the interface consumes time, it is recommended to
call up large amounts of data with the field access functions EKI_Get…Ar-
ray().
 EthernetKRL can access a maximum of 512 array elements by means of
EKI_Get…Array(). It is possible to create a larger array in KRL, e.g. my-
Frame[1000], but only a maximum of 512 elements can be read.
 There are various possibilities of waiting for data:
Sending data
EKI_STATUS = EKI_Send(CHAR[], CHAR[])
Writing data
EKI_STATUS = EKI_SetReal(CHAR[], CHAR[], REAL)
EKI_STATUS = EKI_SetInt(CHAR[], CHAR[], INTEGER)
EKI_STATUS = EKI_SetBool(CHAR[], CHAR[], BOOL)
EKI_STATUS = EKI_SetFrame(CHAR[], CHAR[], FRAME)
EKI_STATUS = EKI_SetString(CHAR[], CHAR[], CHAR[])
Reading data
EKI_STATUS = EKI_GetBool(CHAR[], CHAR[], BOOL)
EKI_STATUS = EKI_GetBoolArray(CHAR[], CHAR[], BOOL[])
EKI_STATUS = EKI_GetInt(CHAR[], CHAR[], Int)
EKI_STATUS = EKI_GetIntArray(CHAR[], CHAR[], Int[])
EKI_STATUS = EKI_GetReal(CHAR[], CHAR[], Real)
EKI_STATUS = EKI_GetRealArray(CHAR[], CHAR[], Real[])
EKI_STATUS = EKI_GetString(CHAR[], CHAR[], CHAR[])
EKI_STATUS = EKI_GetFrame(CHAR[], CHAR[], FRAME)
EKI_STATUS = EKI_GetFrameArray(CHAR[], CHAR[], FRAME[])
Checking a function for errors
EKI_CHECK(EKI_STATUS, EKrlMsgType, CHAR[])
Clearing, locking, unlocking and checking a memory
EKI_STATUS = EKI_ClearBuffer(CHAR[], CHAR[])
EKI_STATUS = EKI_Lock(CHAR[])
EKI_STATUS = EKI_Unlock(CHAR[])
EKI_STATUS = EKI_CheckBuffer(CHAR[], CHAR[])
EKI instructions are executed in the advance run!