Posts by rafa del angel

Quote from dddomodossola

Hello friends,

Just to inform that the repository already contains a client example in python

https://github.com/skilledAutomat…roxy4_client.py

So rafa del angel can use it.

Kind Regards

hi when im trying to read $OUT[] for readArray i have an error

outs= kvpa.readArray("$OUT[]")
this is the error:
struct.pack( h ) a bytes-like object is required
Im using python 3.8,

can you share a example?

Quote from panic mode

Hi Mr, this example its in python or in your client?,

tested on my busy PC while running bunch of other apps using structure that resembles following

Code

init connection with KVP_C4
set robot ip  
start stopwatch
FOR n=1 to 1000
   read $AXIS_ACT 
   textbox.append( result and status)
NEXT
stop stopwatch
display stopwatch result

the "read" in above pseudo code included composing message each time and decoding each response and stripping out timestamp.

it takes about 11000ms or 11ms per message

i suspected that UI probably takes a lot of time adding more and more text to a textbox, so i also tried commenting out the textbox.append. in this case result was about 6400ms or 6.4ms roundtrip per message.

the extracted value is 147 byte long:

Code

$AXIS_ACT, {E6AXIS: A1 -97.3276443, A2 -43.2973099, A3 109.029694, A4 -8.19240665, A5 -4.03252316, A6 -55.1122, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}

according to task manager memory load was negligible, CPU load by KRCserver was averaging about 1% (0.9-1.1%)

command to set robot ip is processed only locally by the server (nothing to transfer to/from robot) so it should be faster than reading variable.

for that i moved that command inside loop just before read, so it too is executed 1000 times.

this was done in 7000ms or 7ms per pair of commands (setIP + read var). so setIP round trip was averaging 7ms-6.4ms = 0.6ms

next, i replaced reading of $AXIS_ACT to $OV_PRO to see effect of much shorter response. $OV_PRO was set to 50 so payload is only two characters. loop still had both commands to set robot IP and read variable, no output to textbox.

to my surprise this took on average a bit longer 7100ms (it was 5000-7500ms in multiple runs)

then i tried to misspell variable. this should take even longer, so removed dollar sign and tried reading nonexistent OV_PRO, loop took 18500ms pretty consistently.

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Hi Mr, the only way to connect to the ips its from the discovery function?, if i need to read a variable from specific ip, but without using the for ip in IPs because every cycle the value of the robot its from different robot, i have 10 robots.

Thanks