Kuka KUKA.EthernetKRL 2.2 - Page 32

32 / 79 Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
KUKA.EthernetKRL 2.2
XML data
example
Sending the complete XML structure
 Saved XML structure for data transmission:
 Programming:
 Sent XML structure:
Sending part of the XML structure
 Saved XML structure for data transmission (not used in the case of direct
transmission):
 Programming:
 Sent XML structure:
Direct transmission of XML data as a string
 Saved XML structure for data transmission:
 Programming:
 Sent string:
Binary data
example
Direct sending of a binary data record of fixed length (10 bytes)
 Configured raw data:
 Programming:
<Robot>
<ActPos X="1000.12"></ActPos>
<Status>12345678</Status>
</Robot>
DECL EKI_STATUS RET
RET=EKI_Send("Channel_1","Robot")
<Robot>
<ActPos X="1000.12"></ActPos>
<Status>12345678</Status>
</Robot>
<Robot>
<ActPos X="1000.12"></ActPos>
<Status>12345678</Status>
</Robot>
DECL EKI_STATUS RET
RET=EKI_Send("Channel_1","Robot/ActPos")
<Robot>
<ActPos X="1000.12"></ActPos>
</Robot>
<Robot>
<ActPos X="1000.12"></ActPos>
<Status>12345678</Status>
</Robot>
DECL EKI_STATUS RET
RET=EKI_Send("Channel_1","<POS><XPOS>1</XPOS></POS>")
<POS><XPOS>1</XPOS></POS>
<RAW>
<ELEMENT Tag="Buffer" Type="BYTE" Size="10" />
</RAW>