EasyManua.ls Logo

Kuka KUKA.EthernetKRL 2.2 - 6.2.5 Reading Data Details

Kuka KUKA.EthernetKRL 2.2
79 pages
To Next Page IconTo Next Page
To Next Page IconTo Next Page
To Previous Page IconTo Previous Page
To Previous Page IconTo Previous Page
Loading...
33 / 79Issued: 19.12.2012 Version: KST EthernetKRL 2.2 V1 en (PDF)
6 Programming
Sent data:
Direct sending of a binary data record with end string
Configured raw data:
Programming:
Sent data:
6.2.5 Reading out data
Description XML and binary data are treated differently when saved and read out:
XML data are extracted by the EKI and stored type-specifically in different
memories. It is possible to access each saved value individually.
All EKI_Get...() access functions can be used to read out XML data.
Binary data records are not interpreted by the EKI and stored together in
a memory.
The EKI_GetString() access function must be used to read a binary data
record out of a memory. Binary data records are read out of the memory
as strings.
Binary data records of fixed length must be divided into individual variables
again in the KRL program with CAST_FROM().
XML data
example
Saved XML structure for data reception:
Programming:
DECL EKI_STATUS RET
CHAR Bytes[10]
OFFSET=0
CAST_TO(Bytes[],OFFSET,91984754,913434.2,TRUE,"X")
RET=EKI_Send("Channel_1",Bytes[])
"r?{ ? _I X"
<RAW>
<ELEMENT Tag="Buffer" Type="STREAM" EOS="65,66" />
</RAW>
DECL EKI_STATUS RET
CHAR Bytes[64]
Bytes[]="Stream ends with:"
RET=EKI_Send("Channel_1",Bytes[])
"Stream ends with:AB"
In order to read out data, the corresponding KRL variables have to be
initialized, e.g. by the assignment of values.
Detailed information on the CAST_FROM() command can be found
in the CREAD/CWRITE documentation.
<Sensor>
<Message>Example message</Message>
<Status>
<IsActive>1</IsActive>
</Status>
</Sensor>

Table of Contents

Related product manuals