Kuka robot KUKA.Ethernet - KRLGetFrameArray

  • Hi everyone, I would like to send about 250 points from the PC to the robot via KUKA.Ethernet KRL.

    I found that there is: RET = EKI_GetFrameArray(CHAR[], CHAR[], FRAME[])

    in the pdf manual they gave an example: RET = EKI_GetFrameArray("Channel_1", "Root/TCP", MyFrame[])


    I'm not sure how to write the xml file for the array (they did not write that example):

    Can anyone help me with this, thanks in advance.

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  • massula

    Approved the thread.
  • yup, the EKI could use more examples and details.

    i have not tried array but according to good folks at German robot forum it works.

    so you would need only one tag element

    <ELEMENT Tag="Root/TCP/POS" Type="FRAME" />

    and then read entire array using


    and make sure your XmlCfgFile has buffer sufficiently large

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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