Die Softwareversion des Ethernetpakets ist 2.5 und der KSS 8.3
Hier das momentane Roboterprogramm zum Testen:
&ACCESS RVP
&REL 11
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program
DEF SERVER( )
DECL EKI_STATUS EKI_Status
;FOLD INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD SPTP P1 Vel=100 % PDAT1 Tool[1] Base[0];%{PE}%R 8.3.43,%MKUKATPBASIS,%CSPLINE,%VSPTP_SB,%P 1:SPTP_SB, 2:P1, 3:, 5:100, 7:PDAT1
SPTP XP1 WITH $VEL_AXIS[1]= SVEL_JOINT( 100), $TOOL= STOOL2( FP1), $BASE= SBASE( FP1.BASE_NO),$IPO_MODE= SIPO_MODE( FP1.IPO_FRAME), $LOAD= SLOAD( FP1.TOOL_NO), $ACC_AXIS[1]= SACC_JOINT( PPDAT1), $GEAR_JERK[1]= SGEAR_JERK( PPDAT1)
;ENDFOLD
valuex=0
valuey=0
;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.3.43,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,100)
$H_POS=XHOME
PTP XHOME
;ENDFOLD
EKI_STATUS=EKI_Init("Hallo")
EKI_STATUS=EKI_Open("Hallo")
;FOLD Write data to connection
; Write bool to <AUfPosition></AufPosition>
EKI_STATUS=EKI_SetBool("Hallo","AufPosition",true)
;ENDFOLD
;FOLD Send data to external program
EKI_STATUS = EKI_Send("Hallo","AufPosition")
WAIT SEC 1
;ENDFOLD
EKI_Status=EKI_GetInt("Hallo","Position/Position1/x-Koordinate",valuex)
EKI_Status=EKI_GetInt("Hallo","Position/Position1/y-Koordinate",valuey)
EKI_Status=Eki_Clear("Hallo")
XP1.X=valuex
XP1.Y=valuey
sptp XP1
;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.3.43,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,100)
$H_POS=XHOME
PTP XHOME
;ENDFOLD
END
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Und hier die XML- Konfiguration:
<ETHERNETKRL>
<CONFIGURATION>
<EXTERNAL>
<IP>172.31.10.152</IP>
<PORT>49152</PORT>
<ALIVE>SET_OUT="1" PING="4"</ALIVE>
</EXTERNAL>
</CONFIGURATION>
<RECEIVE>
<XML>
<ELEMENT Tag="Position/Position1/x-Koordinate" Type="INT"/>
<ELEMENT Tag="Position/Position1/y-Koordinate" Type="INT"/>
</XML>
</RECEIVE>
<SEND>
<XML>
<ELEMENT Tag="AufPosition"/>
</XML>
</SEND>
</ETHERNETKRL>
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