EthernetKRL Real time Variables monitoring

RainerFord · Jul 26th 2021

Hello

We have a KRC4 controller with an EthernetKRL option.

The main objective we want to achieve is constant real time monitoring of some variables, which will be send to the robot from server via EthernetKRL.

I tried to make some simple progs, which have some kind of while loop inside. But I faced the problem: The program works only a limited time because of EKI01280 and EKI01792 (Limit of memory element reached) Errors. The problem with first error I solved with EKI_Lock command, but is there a way to solve a problem with a second error? The manual says to increase buffer size, but as I see, it will be a bad solution, as the program will work a little bit longer, but It will be stopped by an error anyway...

**panic mode** · Jul 26th 2021

you may want to elaborate... i would suggest to check pinned topic READ FIRST.

for example you posted no code, mentioned no software versions etc.

RainerFord · Jul 27th 2021

Yep. My Bad. Software version is 8.5.8

And also, the EKI_Lock didn't solved the problem as it causes EKI00015 (Access to empty element memory) error... So I added ClearBuffer instruction at the end of the cycle as I don't need buffer anyway. I don't know will it help or not as I still testing the program. But it seems OK right now.

The code For program is

Code

&ACCESS RVP
&REL 67
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
&PARAM DISKPATH = KRC:\R1\test
DEF XmlTransmit()
  INT TAC, TA[6]
  DECL EKI_STATUS RET
  REAL BX, BY, BZ, BA, BB, BC
  BOOL ConMove, Lube, STP, RSENS
;FOLD INI  
  ;FOLD BASISTECH INI  
  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]:Tool1 Base[0] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=P1; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
;ENDFOLD
SPTP XP1 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $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), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD
RET=EKI_Init("Transmit")
RET=EKI_Open("Transmit")
BX=0
BY=0
BZ=0
BA=0
BB=0
BC=0
RSENS=FALSE
ConMove=FALSE
Lube=FALSE
STP=FALSE
REPEAT
TAC=0
FOR TAC=1 TO 6
TA[TAC]=$MOT_TEMP[TAC]
ENDFOR
;FOLD Write data
  ; Write Temps
  RET=EKI_SetInt("Transmit","Robot/ReducersTemp/Temp1", TA[1])
  RET=EKI_SetInt("Transmit","Robot/ReducersTemp/Temp2", TA[2])
  RET=EKI_SetInt("Transmit","Robot/ReducersTemp/Temp3", TA[3])
  RET=EKI_SetInt("Transmit","Robot/ReducersTemp/Temp4", TA[4])
  RET=EKI_SetInt("Transmit","Robot/ReducersTemp/Temp5", TA[5])
  RET=EKI_SetInt("Transmit","Robot/ReducersTemp/Temp6", TA[6])
  ; Write Bools
  RET=EKI_SetBool("Transmit","Robot/Taking",RSENS)
;ENDFOLD (Write data)
;FOLD Send data to external program
  RET = EKI_Send("Transmit","Robot")
  WAIT SEC 1
;ENDFOLD (Send data to external program)

;FOLD Get data
   ;Bag Coordinates
  RET=EKI_GetReal("Transmit","TRANS/Pos/BagCoordX",BX)
  RET=EKI_GetReal("Transmit","TRANS/Pos/BagCoordY",BY)
 RET=EKI_GetReal("Transmit","TRANS/Pos/BagCoordZ",BZ)
  RET=EKI_GetReal("Transmit","TRANS/Pos/BagCoordA",BA)
 RET=EKI_GetReal("Transmit","TRANS/Pos/BagCoordB",BB)
  RET=EKI_GetReal("Transmit","TRANS/Pos/BagCoordC",BC)
   ;Booleans
  RET=EKI_GetBool("Transmit","TRANS/ConvBool" ,ConMove)
  RET=EKI_GetBool("Transmit","TRANS/NeedLube" ,Lube)
  RET=EKI_GetBool("Transmit","TRANS/STOP" ,STP)
;ENDFOLD (Get data)
RET=EKI_ClearBuffer("Transmit","TRANS")
WAIT SEC 1
;ENDFOLD
UNTIL $IN[205]==TRUE
RET=EKI_Close("Transmit")
RET=EKI_Clear("Transmit")
END

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And the Config file is

Code

<ETHERNETKRL>
    <CONFIGURATION>
        <EXTERNAL>
            <IP>192.168.10.44</IP>
            <PORT>60000</PORT>
        </EXTERNAL>
    </CONFIGURATION>
    <RECEIVE>
        <XML>
            <ELEMENT Tag="TRANS/Pos/BagCoordX" Type="REAL"/>
            <ELEMENT Tag="TRANS/Pos/BagCoordY" Type="REAL"/>
            <ELEMENT Tag="TRANS/Pos/BagCoordZ" Type="REAL"/>
            <ELEMENT Tag="TRANS/Pos/BagCoordA" Type="REAL"/>
            <ELEMENT Tag="TRANS/Pos/BagCoordB" Type="REAL"/>
            <ELEMENT Tag="TRANS/Pos/BagCoordC" Type="REAL"/>
            <ELEMENT Tag="TRANS/ConvBool" Type="BOOL"/>
            <ELEMENT Tag="TRANS/NeedLube" Type="BOOL"/>
            <ELEMENT Tag="TRANS/STOP" Type="BOOL"/>
            
        </XML>
    </RECEIVE>
    <SEND>
        <XML>
            <ELEMENT Tag="Robot/ReducersTemp/Temp1"/>
            <ELEMENT Tag="Robot/ReducersTemp/Temp2"/>
            <ELEMENT Tag="Robot/ReducersTemp/Temp3"/>
            <ELEMENT Tag="Robot/ReducersTemp/Temp4"/>
            <ELEMENT Tag="Robot/ReducersTemp/Temp5"/>
            <ELEMENT Tag="Robot/ReducersTemp/Temp6"/>
            <ELEMENT Tag="Robot/Taking"/>        
        </XML>
    </SEND>
</ETHERNETKRL>

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EthernetKRL Real time Variables monitoring

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