Just as a sidenote, if anyone else runs across this thread and wnats to know how this issue can be solved, SkyeFire gave me an excellent idea from another post
Post
EKI - PTP commands executing too slow
Hello folks again,
after setting and getting to know EKI a little bit, i'm having some follow up questions and problems.
(Code, 5 lines)
Problem description:
The code found below, should start an EKI server, which listens on port 54601.
After successfull connection the server should execute PTP motions with an advance run of 5 as the data packets come in (as soon as possible).
The tests with this code were executed while beeing in T1 mode.
What works:
Connecting to the server from a PC application.…
after setting and getting to know EKI a little bit, i'm having some follow up questions and problems.
(Code, 5 lines)
Problem description:
The code found below, should start an EKI server, which listens on port 54601.
After successfull connection the server should execute PTP motions with an advance run of 5 as the data packets come in (as soon as possible).
The tests with this code were executed while beeing in T1 mode.
What works:
Connecting to the server from a PC application.…
Ravnicas
Here's the code I ended up with
Code: Ethernet_Streaming.src
&ACCESS RVP
&REL 35
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Production
DEF ethernet_streaming ( )
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0)
;ENDFOLD (BASISTECH INI)
;ENDFOLD (INI)
;FOLD STARTPOSITION - BASE IS 1, TOOL IS 1, POSITION IS CURRENT MEASURED POSITION
BAS(#TOOL,1)
BAS(#BASE,0)
PTP $POS_ACT_MES
; set to current position
;ENDFOLD
;FOLD LIN SPEED IS 0.5 m/sec, INTERPOLATION SETTINGS IN FOLD
$VEL.CP=0.5
$ADVANCE=3
$APO.CDIS = 80
;ENDFOLD
tailArrayIndex = 1
LOOP
IF $FLAG[18] THEN
LIN COMMAND_BUFFER[tailArrayIndex].point C_DIS
tailArrayIndex = tailArrayIndex + 1
IF (tailArrayIndex > ringArrayIndexMax) THEN
; identifies that the head index is ahead of the tail array index
headIndexAhead = TRUE
tailArrayIndex = 1
ENDIF
ENDIF
ENDLOOP
END
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