Hai All!!!
Good day for all
I have some problem to get realtime data position and power consumsion
For system variable $POST_ACT / $POST_ACT_MEAS / $AXIS_ACT / $AXIS_ACT_MEAS / $ENERGY_TOTAL
I dont have reference for access or declare this variable to send with Ethernet KRL
and this my code
LOOP
;insert your code here
RET=EKI_Init("SendParsing")
RET=EKI_Open("SendParsing")
;FOLD Write data to connection
RET=EKI_SetString("SendParsing","Robot/Info/RobotName", $ROBTRAFO[])
RET=EKI_SetInt("SendParsing","Robot/Info/SerialNum", $KR_SERIALNO)
RET=EKI_SetInt("SendParsing","Robot/Data/Power/OperatingTime", $ROBRUNTIME) ;minute
RET=EKI_SetInt("SendParsing","Robot/Data/SpeedAct", $OV_PRO)
RET=EKI_SetInt("SendParsing","Robot/Data/SpeedJog", $OV_JOG)
RET=EKI_SetINT("SendParsing","Robot/Data/MachineRunTime/ProgramRunTime", $ROB_TIMER) ;
RET=EKI_SetBool("SendParsing","Robot/Data/Gripper", $TCP_IPO)
RET=EKI_SetBool("SendParsing","Robot/Data/Power/PowerStatus", $POWER_FAIL)
RET=EKI_SetReal("SendParsing","Robot/Data/Current/1", $CURR_ACT[1])
RET=EKI_SetReal("SendParsing","Robot/Data/Current/2", $CURR_ACT[2])
RET=EKI_SetReal("SendParsing","Robot/Data/Current/3", $CURR_ACT[3])
RET=EKI_SetReal("SendParsing","Robot/Data/Current/4", $CURR_ACT[4])
RET=EKI_SetReal("SendParsing","Robot/Data/Current/5", $CURR_ACT[5])
RET=EKI_SetReal("SendParsing","Robot/Data/Current/6", $CURR_ACT[6])
ON_ERROR_PROCEED
IF $ERR.NUMBER > 0 THEN
RET=EKI_SetReal("SendParsing","Robot/Data/A1", $AXIS_ACT.A1)
RET=EKI_SetReal("SendParsing","Robot/Data/A2", $AXIS_ACT.A2)
RET=EKI_SetReal("SendParsing","Robot/Data/A3", $AXIS_ACT.A3)
RET=EKI_SetReal("SendParsing","Robot/Data/A4", $AXIS_ACT.A4)
RET=EKI_SetReal("SendParsing","Robot/Data/A5", $AXIS_ACT.A5)
RET=EKI_SetReal("SendParsing","Robot/Data/A6", $AXIS_ACT.A6)
RET=EKI_SetReal("SendParsing","Robot/Data/E1", $AXIS_ACT.E1)
RET=EKI_SetReal("SendParsing","Robot/Data/E2", $AXIS_ACT.E2)
RET=EKI_SetReal("SendParsing","Robot/Data/E3", $AXIS_ACT.E3)
RET=EKI_SetReal("SendParsing","Robot/Data/E4", $AXIS_ACT.E4)
RET=EKI_SetReal("SendParsing","Robot/Data/E5", $AXIS_ACT.E5)
RET=EKI_SetReal("SendParsing","Robot/Data/E6", $AXIS_ACT.E6)
ERR_CLEAR($ERR)
ERR_CLEAR($ERR)
ELSE
ENDIF
ON_ERROR_PROCEED
IF $ERR.NUMBER > 0 THEN
RET=EKI_SetReal("SendParsing","Robot/Data/Pos/X", $POS_ACT_MES.X)
RET=EKI_SetReal("SendParsing","Robot/Data/Pos/Y", $POS_ACT_MES.Y)
RET=EKI_SetReal("SendParsing","Robot/Data/Pos/Z", $POS_ACT_MES.z)
RET=EKI_SetReal("SendParsing","Robot/Data/Pos/A", $POS_ACT_MES.A)
RET=EKI_SetReal("SendParsing","Robot/Data/Pos/B", $POS_ACT_MES.B)
RET=EKI_SetReal("SendParsing","Robot/Data/Pos/C", $POS_ACT_MES.C)
ERR_CLEAR($ERR)
ELSE
ENDIF
;FOLD Get Mode Operational
SWITCH $MODE_OP
CASE #AUT
RET=EKI_SetString("SendParsing","Robot/Data/Mode", "Automatic Mode")
CASE #EX
RET=EKI_SetString("SendParsing","Robot/Data/Mode", "Automatic External Mode")
CASE #T1
RET=EKI_SetString("SendParsing","Robot/Data/Mode", "T1 Mode")
CASE #T2
RET=EKI_SetString("SendParsing","Robot/Data/Mode", "T2 Mode")
CASE #INVALID
RET=EKI_SetString("SendParsing","Robot/Data/Mode", "Invalid Operating Mode")
DEFAULT
;insert your code here
ENDSWITCH
SWITCH $ABS_ACCUR
CASE #ACTIVE
RET=EKI_SetString("SendParsing","Robot/Data/ABSStats", "ACTIVE")
CASE #INACTIVE
RET=EKI_SetString("SendParsing","Robot/Data/ABSStats", "INACTIVE")
CASE #NONE
RET=EKI_SetString("SendParsing","Robot/Data/ABSStats", "NONE")
DEFAULT
;insert your code here
ENDSWITCH
;ENDFOLD (Write Mode Operation)
RET=EKI_SetBool("SendParsing","Robot/Data/SafetyStatus", $STOPMESS)
;FOLD Get POSE Data
;ON_ERROR_PROCEED
;IF $ERR.NUMBER > 0 THEN
;ERR_CLEAR($ERR)
;ELSE
;ENDIF
;ENDFOLD (Write Axis Data)
;ENDFOLD (Write data to connection)
RET = EKI_Send("SendParsing","Robot")
;wait until data read
;WAIT FOR $FLAG[1]
;FOLD WAIT Time= 1.0 sec ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.logics.wait; Time=1.0
;ENDFOLD
WAIT SEC 1.0
;ENDFOLD
RET=EKI_Close("SendParsing")
RET=EKI_Clear("SendParsing")
ENDLOOP
END
Can you help me to give me suggestion or knowledge or method for read data pose robot and power consumsion?
Thanks before
