keyence Machine Vision X KUKA Robot

Hi Tiago,

we need more information about your camera set.
In the home page of Keyence Machine vision there is a big selection.
If near at hand post us the communication spezification (camera, monitor, remote,...)
have a nice day

the CV-110 controller has a serial (RS232) connector.
What we need to know
- use the serial communication a protocol (like XON/XOFF, 3964, nothing)
- we need a description of the communication telegram

Then we can read and write the data with the KRC via CREAD/CWRITE.

*yes

the communication must work with tech package KUKA.Ethernet.KRL.XML

Hi Tiago,
i got following information:
the KUKA.Ethernet.KRL-XML needs AlphaNumeric datas - i looks like the camera doesn't provide this data format !
Therefore, serial communication.

aus dem Datenblatt (CV 2100) sind folgende Informationen zu entnehmen:

- Interface Video output Colour, Conforming to the NTSC system RS-232C
Numerical value output and image data and control input/output.

- Ethernet 100 BASE-TX/10 BASE-T
Numerical value output, image data and control input/output

http://www.keyence.co.uk/produ…2100_specifications_1.php

Ich denke eine serielle RS-232 Kommunikation sollte möglich sein. Die Verwendung von EKX (Ethernet KRL XML)
würde eine "alphanumerical output" (Zeichen und Zahlen) voraussetzen, was offenbar nicht vorliegt (das gleiche
gilt auch für die KUKA UK Vision).

--> serielle Schnittstelle

I'm still learning too, but I would suggest this.

Are those two characters not the XON and XOFF start characters? If you look in "c:\KRC\Roboter\INIT" for the file "SERIAL.INI". There will be two lines :-

XON_VAL=17
XOFF_VAL=19

so what you are receiving is "(character 17)T1(character 19)"

It appears if you change it to
XON_VAL=0
XOFF_VAL=0

then you should just get "T1"

I think that's right! Could someone please correct me if I am wrong

According to Wikipedia, ASCII 0 is the "NUL" command. It does not have any function but a length of 1 byte. The receiver is supposed to throw this byte away, it can be used if you do have fixed message-length but not enough data.
In C it marcs the end of a character.
That means: depending on the software you use to receive, you still might see the two bytes.
You could think of turning Xon/Xoff off.

You are right Martin.
A COPEN sends a XON, the CCLOSE a XOFF.

- it is only necessary to use COPEN one time, a CCLOSE is'nt necessary
- XON=0, XOFF=0 would help also

Hi Josué,
XOFF_VAL is a protocol character ! Don't mix up this with user data !

Try this:
DECL CHAR CR

CR = 10

CWRITE(........,"T1%c",CR)

Does CWRITE know about the /-parameters? I think "\n" or "\r" is a CR. Then you don't have to use another variable.
If each command ends with a CR, then it is not user data, I would use the XOFF then. Thats even more convenient.

CWRITE doesn't support the format parameter "\param", only %.

Please, never use the XOFF_VAL as a user data !!!!

XOFF will be sent only if
- CCLOSE (you have to call CCLOSE after each CWRITE, don't be silly !!)
- while CREAD to avoid a buffer overflow

Thats good to know. I did not use XON/XOFF until now, but I would not have expected this behaviour. I thought each message is started with XON and ended with XOFF automatically.

Hallo Kai,

das "primitive" Protokoll XON/XOFF wurde eigentlich für serielle Drucker entwickelt.
Die hatten damals noch nicht soviel Speicher. Wenn denen der Speicher kurz vor dem Überlaufen war haben sie ein XOFF an der PC geschickt. Wenn wärend des Druckens der Speicher wieder frei wurde schickten sie ein XON (PC darf wieder senden). Ob das Endgerät
(hier Drucker) eingeschaltet war haben die Geräte die DSR-Leitung hochgesetzt.

Thanks for help, I attached above the final software.

.....

;ABRE PORTA
;-----------

COPEN(:SER_3, HANDLE)

; PREPARA VARIAVEL PARA ENVIO
;-------------------------------------------

COMMAND[]="T1" ;CONFIGURA COMANDO A SER ENVIADO
CR = 13 ;CONFIGURA CARACTE ENTER
OFFSET = 0
SWRITE(SEND_COMMAND[],STATE,OFFSET,"%S%c",COMMAND[],CR)

;ENVIA PACOTE
;------------------

CWRITE(HANDLE,SW_T,MW_T,"%s",SEND_COMMAND[])

;LE O PACOTE QUE ESTA NO BUFFER
;-------------------------------

WAIT FOR $DATA_SER3>0

OFFSET = 0
CREAD(HANDLE,SR_T,MR_T,TIMEOUT,OFFSET,"%s",PACOTE[])

; DIVIDE O PACOTE EM PARTES
;---------------------------

OFFSET = 3
SREAD(PACOTE[],STATE,OFFSET,"%1d",STATUS_FOTO)

OFFSET = 5
SREAD(PACOTE[],STATE,OFFSET,"%5d",posx)

....

THAKS AGAIN, COME TO BRASIL TO DRINK BEERS WITH US !!!!!!