Posts by RainerFord

RainerFord · Another question about move smoothing RainerFord April 20, 2025 at 9:25 PM

So there are no miracles or some secret settings. The problem seems to be solved via the fine tuning of the accelerations in every single point. And also point positions optimizing (such as A6 reorient)

RainerFord · Another question about move smoothing RainerFord April 15, 2025 at 1:59 PM

Quote from hermann

You have a movement over two identical positions. Before the switch robot moves to xhome and the first movement in the case also is xhome. Eliminate one of them.

I assume you wrong. There are no any moves outside the switch structure. The first xhome movement is under switch, #HOME case.

Quote from Fubini

Also check you load data. You change tool for every point which potentially also leads to a load change. Maybe to a false load?

That was my first assumption. But I'm pretty sure that the tool is the same in all points. And it has the correct load data

UPD:

Also noticed that in the code I posted there are velocities difference between xhome (30%) and other points (60%). To be more clarify: I changed the velocities to see if it helps. On the video all points has 30% velocities.

RainerFord · Another question about move smoothing RainerFord April 15, 2025 at 12:48 PM

I did not use spline block here... Used to apply it only for some kind of complicated motions. Do not think this is the case...

I can definitely post the code. The problem happens in the XHOME point. On the video is the fragment with TRANSPORTATION(#PLACE) called

Code

DEF TRANSPORTATION(COMMAND:IN)
DECL TRANSPORT_COMMAND COMMAND
SWITCH COMMAND
   CASE #HOME 
;FOLD SPTP HOME Vel=60 % HPTP ;%{PE}
   ;FOLD Parameters ;%{h}
      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=HPTP; Kuka.VelocityPtp=60; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
   ;ENDFOLD
   SPTP XHOME WITH $VEL_AXIS[1] = SVEL_JOINT(60.0), $TOOL = STOOL2(FHOME), $BASE = SBASE(FHOME.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME.IPO_FRAME), $LOAD = SLOAD(FHOME.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PHPTP), $APO = SAPO_PTP(PHPTP), $GEAR_JERK[1] = SGEAR_JERK(PHPTP), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD
CAMTRIG=TRUE
   CASE #PLACE
;FOLD SPTP HOME CONT Vel=30 % PLPDAT2 ADAT ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PLPDAT2; Kuka.VelocityPtp=30; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; KukaRoboter.Movement.SplineLogicName=ADAT; Trigger[1]=Trigger 1; TriggerPath[1]=-600; TriggerOnStart[1]=FALSE; TriggerDelay[1]=0; TriggerType[1]=ASSIGNMENT; TriggerAssignVariable[1]=CAMTRIG; TriggerAssignValue[1]=TRUE; Trigger[2]=Trigger 2; TriggerPath[2]=-600; TriggerOnStart[2]=FALSE; TriggerDelay[2]=0; TriggerType[2]=ASSIGNMENT; TriggerAssignVariable[2]=READY2GETCORD; TriggerAssignValue[2]=TRUE; IlfCommand=SPTP
;ENDFOLD
TRIGGER WHEN PATH=PTH DELAY=0 DO CAMTRIG=TRUE
TRIGGER WHEN PATH=PTH DELAY=0 DO READY2GETCORD=TRUE
SPTP XHOME WITH $VEL_AXIS[1] = SVEL_JOINT(30.0), $TOOL = STOOL2(FHOME), $BASE = SBASE(FHOME.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME.IPO_FRAME), $LOAD = SLOAD(FHOME.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPLPDAT2), $APO = SAPO_PTP(PPLPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPLPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
;ENDFOLD
;FOLD SPTP PLPOINTAPP CONT Vel=60 % LAPTP Tool[1]:GRIPPER Base[1]:PALLETTE ;%{PE}
   ;FOLD Parameters ;%{h}
      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PLPOINTAPP; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=LAPTP; Kuka.VelocityPtp=60; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
   ;ENDFOLD
   SPTP XPLPOINTAPP WITH $VEL_AXIS[1] = SVEL_JOINT(60.0), $TOOL = STOOL2(FPLPOINTAPP), $BASE = SBASE(FPLPOINTAPP.BASE_NO), $IPO_MODE = SIPO_MODE(FPLPOINTAPP.IPO_FRAME), $LOAD = SLOAD(FPLPOINTAPP.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PLAPTP), $APO = SAPO_PTP(PLAPTP), $GEAR_JERK[1] = SGEAR_JERK(PLAPTP), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
;ENDFOLD
;FOLD SLIN PLPOINT Vel=1.2 m/s LLIN Tool[1]:GRIPPER Base[1]:PALLETTE ;%{PE}
   ;FOLD Parameters ;%{h}
      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PLPOINT; Kuka.BlendingEnabled=False; Kuka.MoveDataName=LLIN; Kuka.VelocityPath=1.2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
   ;ENDFOLD
   SLIN XPLPOINT WITH $VEL = SVEL_CP(1.2, , LLLIN), $TOOL = STOOL2(FPLPOINT), $BASE = SBASE(FPLPOINT.BASE_NO), $IPO_MODE = SIPO_MODE(FPLPOINT.IPO_FRAME), $LOAD = SLOAD(FPLPOINT.TOOL_NO), $ACC = SACC_CP(LLLIN), $ORI_TYPE = SORI_TYP(LLLIN), $APO = SAPO(LLLIN), $JERK = SJERK(LLLIN), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD
   CASE #PLACE2
;FOLD SPTP HOME CONT Vel=30 % PLPDAT2 ADAT ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PLPDAT2; Kuka.VelocityPtp=30; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; KukaRoboter.Movement.SplineLogicName=ADAT; Trigger[1]=Trigger 1; TriggerPath[1]=-600; TriggerOnStart[1]=FALSE; TriggerDelay[1]=0; TriggerType[1]=ASSIGNMENT; TriggerAssignVariable[1]=CAMTRIG; TriggerAssignValue[1]=TRUE; Trigger[2]=Trigger 2; TriggerPath[2]=-600; TriggerOnStart[2]=FALSE; TriggerDelay[2]=0; TriggerType[2]=ASSIGNMENT; TriggerAssignVariable[2]=READY2GETCORD; TriggerAssignValue[2]=TRUE; IlfCommand=SPTP
;ENDFOLD
TRIGGER WHEN PATH=PTH DELAY=0 DO CAMTRIG=TRUE
TRIGGER WHEN PATH=PTH DELAY=0 DO READY2GETCORD=TRUE
SPTP XHOME WITH $VEL_AXIS[1] = SVEL_JOINT(30.0), $TOOL = STOOL2(FHOME), $BASE = SBASE(FHOME.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME.IPO_FRAME), $LOAD = SLOAD(FHOME.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPLPDAT2), $APO = SAPO_PTP(PPLPDAT2), $GEAR_JERK[1] = SGEAR_JERK(PPLPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
;ENDFOLD
;FOLD SPTP PLPOINT2APP CONT Vel=60 % LAPTP Tool[1]:GRIPPER Base[1]:PALLETTE ;%{PE}
   ;FOLD Parameters ;%{h}
      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PLPOINT2APP; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=LAPTP; Kuka.VelocityPtp=60; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
   ;ENDFOLD
   SPTP XPLPOINT2APP WITH $VEL_AXIS[1] = SVEL_JOINT(60.0), $TOOL = STOOL2(FPLPOINT2APP), $BASE = SBASE(FPLPOINT2APP.BASE_NO), $IPO_MODE = SIPO_MODE(FPLPOINT2APP.IPO_FRAME), $LOAD = SLOAD(FPLPOINT2APP.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PLAPTP), $APO = SAPO_PTP(PLAPTP), $GEAR_JERK[1] = SGEAR_JERK(PLAPTP), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
;ENDFOLD
;FOLD SLIN PLPOINT2 Vel=1.2 m/s LLIN Tool[1]:GRIPPER Base[1]:PALLETTE ;%{PE}
   ;FOLD Parameters ;%{h}
      ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=PLPOINT2; Kuka.BlendingEnabled=False; Kuka.MoveDataName=LLIN; Kuka.VelocityPath=1.2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
   ;ENDFOLD
   SLIN XPLPOINT2 WITH $VEL = SVEL_CP(1.2, , LLLIN), $TOOL = STOOL2(FPLPOINT2), $BASE = SBASE(FPLPOINT2.BASE_NO), $IPO_MODE = SIPO_MODE(FPLPOINT2.IPO_FRAME), $LOAD = SLOAD(FPLPOINT2.TOOL_NO), $ACC = SACC_CP(LLLIN), $ORI_TYPE = SORI_TYP(LLLIN), $APO = SAPO(LLLIN), $JERK = SJERK(LLLIN), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD

ENDSWITCH

END

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RainerFord · Another question about move smoothing RainerFord April 15, 2025 at 11:45 AM

Well maybe, but the points are quite distant from each other. At least I think so. The distance between the points more than 1.5-2 meters...
About the point locations: You can see them on the attached pic (top view drawn by my shaking hand). So the TCP moves via the black trajectory and increases speed in the red arc. Than it desend the speed back to normal to the point P3. I can agree that the point location is quite far from organising the smooth approximation with the basic parameters. But I still can not understand, why it does not change trajectory close to the green one when I change the approximation distance parameter (thou this is not my option anyway)... The easiest way I think is to move the P2 closely to P1, but it will not work for me cuz the robot falls back from the camera wich takes its shot...

Posting that message I desided to add P4 and watch if it helps.

Despite your recomendation to eliminate points, lol... But I think it could be useful in this case. I will update this post with a results

RainerFord · Another question about move smoothing RainerFord April 14, 2025 at 4:21 PM

Hello

There are a couple of points and SPTP movement with approximation between them. The problem is that robot acts strange on the approximation trajectory (I would call that "jerk" but it is not quite so). It seems like robot rise up its speed when it on the approximation trajectory and set the speed back to normal, when on the trajectory. It could be seen on the attached video (at the very start, when the robot starts to rotate A6).
I tried to lower the acceleration and approximation distance, also tried to increase approximation distance but it does not seems to have effect at all...
What can help to smooth the trajectory?

The robot is KR180 R3200-2 PA, KRC5 with KSS 8.7.7

rb.mp4

RainerFord · Digital inputs on the E-series controller RainerFord July 25, 2023 at 4:37 AM

Quote from kwakisaki

3 sensors to 6 pins.........
Provide a schematic?
What are the sensors, provide more information, including connection information?
You sure your board is PNP and not NPN - What country are you in?
Have you tried the other bank of 16 inputs using pin 19 as the 0v?
Have you tried just simple toggle switches on the inputs instead?

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OMG... I'm sorry, of course I meant 6 sensors to 6 pins...

The sensors are optex fa 16175 zr-qx200cp4

The country is Kazakhstan and the I/O board has the "SOURCE/PNP" inscription on it, so i'm pretty sure it is PNP. I also tried to use simple toggle switches wich connects the DI pins to 24v. The result was the same.

I didn't try to use other bank of 16 inputs, but I think it will be my next step.

UPD:

Just doublechecked the DI connector on the cable from sensors to Controller and noticed that the 18th pin was sinked down in the connector. So I think it didn't properly reach the contact in controller. I replaced the connector with the new one and the problem seems to be solved. Thank you.

RainerFord · Digital inputs on the E-series controller RainerFord July 24, 2023 at 7:28 PM

Hello

I've got the Kawasaki robot with a little one E-series controller. And there is something strange with its DI's. The controller has 1TW Source pnp board. So I'm trying to connect some pnp sensors in accordance with the attached scheme. (I'm using six DI's only, so I connected three sensors powered by an external 24v PSU to 1-6 pins and I also connected the minus from an external PSU to 18th pin. And there is something wrong happens next. Firstly, the only one DI works at the same time as I can see on the KIDE monitor... For example, if one of any of six connected DIs is triggered then it works and I can see that the DI is triggered by KIDE monitor. But when the two or more DI's are triggered at the same time, none of them works. I dont see they're triggered neither by KIDE monitor nor by print signal console command. Secondly, I also noticed that when one of any of six connected DI's triggers, the low voltage (about 13-16V) appears on the all of controller's DI pins even though they are not connected. I thought that the problem could be with the cable or something like that, but It seems OK from my side... What could be the reason of this sort of problem?..

RainerFord · R30iB Mate DI Connection RainerFord May 17, 2023 at 6:42 PM

Hello

Studying the maintenance manual, I saw a diagram for connecting DI, which describes using of the internal power supply of the controller. On the one hand, it seems to be clear that if SDICOM is connected to 0V from an external PSU, and + 24V from an external PSU is applied to the inputs, respectively, then the circuit will work. But it's embarrassing that there is no such connection diagram in the manual, and the Note of Use says "Apply the +24 V power of the robot to the receiver."

Actually the question is: Is it safe to use an external power supply unit for discrete inputs on this controller?

RainerFord · Roboguide Coordinated Motion RainerFord October 14, 2022 at 1:03 PM

To use the coord motion feature, you have to tick it when installing the Roboguide software.

RainerFord · Signal Allocation menu (Options) RainerFord September 16, 2022 at 10:00 PM

Hello

We bought used BX200 with E-series controller. As far as I can assume, the controller don't have any options installed.

I plan to connect it with external PLC via Ethernet. My desire was to use the Ethernet/IP protocol, but I don't see the Aux. 0608 (Signal allocation) menu to configure it. Also when I go to Aux. 0897-6 to check it out, the Signal allocation line is there and greyed out.

The question is: Does it means that I don't have required option for this type of connection and I have to use base TCP Client/Server feature?

RainerFord · OfficeLite Using EXT mode RainerFord April 4, 2022 at 5:16 AM

Just rechecked all user rights then made a cold start. So now the EXT mode works. And in case of someone interested in signal emulation too: I tried to use Y200. Seems to be not bad,despite the fact that there is no opportunity to comment the signals.

RainerFord · OfficeLite Using EXT mode RainerFord April 1, 2022 at 4:34 PM

Yep. That was the first thing I did...

Anyway, thank you. Now I know, that it is possible, so I'm pretty sure, that I will find the solution to make it work

RainerFord · OfficeLite Using EXT mode RainerFord April 1, 2022 at 4:27 PM

Well... Seems I'm doing something wrong then...

RainerFord · OfficeLite Using EXT mode RainerFord April 1, 2022 at 3:10 PM

Hello

We have a case, where the robotic cell runs in ext automatic mode and it uses the KRC4 itself as the external PLC (some DO's connected to DI's to make it work) The logic is very simple and we need to run the cell with some external buttons without smartpad.

Anyway, the real cell works pretty well, but I wonder if I can simulate the case like this in Office Lite? As I know, it is impossible to turn on the EXT mode in OL.

Also, Is there a way to simulate input and output signals in OL in Auto mode?

We are using the KRC4 with KSS 8.6.8 in this case.

RainerFord · Office Lite Inadequate robot position RainerFord December 14, 2021 at 8:06 AM

Hello

We purchased KR40 PA and it is on the way. So I don't have the real robot right now, but I want to make some offline programming with Office Lite.

I made the new WoV project with the right controller,KSS version and robot. But when I deploy it on the OL, the virtual robot starts with the inadequate position as you can see on screenshot. The problem is I cant move it to the right position even with turned off software limits for all axis because of 5th, that seems to be flipped...

What am I doing wrong? I don't believe, that OL don't have the feature to simulate the robot when you don't have the backup from real one...

RainerFord · Multi language Messages RainerFord October 21, 2021 at 8:23 AM

Quote from MOM

Contents of dummy.kxr
<?xml version="1.0" encoding="utf-8"?>
<resources xmlns="http://www.kuka.com/schemas/kxr/2009">
<module name="Dummy">
<uiText key="ShowMyMessage">
<text xml:lang="de-DEV">Das ist meine Nachricht</text>
<text xml:lang="en-DEV">that is my message</text>
</uiText>
</module>
</resources>
Call
MsgNotify("ShowMyMessage", "DUMMY")
Question
How does your example looks like

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Hello

Tried to do this with your example, but it didn't work

The notify message goes with ShowMyMessage text, Not with the contents of the created DUMMY.kxr file...

My KSS version is 8.5.8, but I don't think the problem is the version

OK, my bad. Do not forget to reboot the controller and reload files

RainerFord · Remote Desktop on KSS 8.6 RainerFord September 17, 2021 at 4:06 PM

Quote from MOM

Just as reminder:
kss v8.3 up to kss 8.5 used os win7
kss v8.6 and kss v8.7 using win10
Question:
what could be the difference causing your problem

As I can see, it is not about win10 or win7 but the KUKA's software restriction on KSS 8.6 and above

RainerFord · Remote Desktop on KSS 8.6 RainerFord September 16, 2021 at 12:29 PM

Hello, Fubini

Thank you for answer.

Well, I tried to compare the files. The 8.5 file is on the left and 8.6 on the right... As you can see, the port 3389 for RDP was allowed by default. The only difference is two ports, but I dont think they has any effect on RDP.

UPD:

Discussed the problem with KUKA. As they told, the RDP feature was removed from 8.6 version. So strange desision.

RainerFord · Remote Desktop on KSS 8.6 RainerFord September 16, 2021 at 11:08 AM

Hello

Is there any differences between remote desktop connection procedure on KSS 8.6 and KSS 8.5?

I'm trying to connect the PC via RDP to Kuka controller with KSS 8.6.7, wich has the default IP 172.31.1.147 through the KLI interface.

So I can access the shared folder on Kuka from my PC, I can ping it, I can connect it with WorkVisual, but the RDP is not working. Maybe there are some additional settings (except IP setting of course) on Kuka wich has been added in 8.6?

I also have the robot with KSS 8.5 and it has no problems with RDP connection...

RainerFord · EthernetKRL Real time Variables monitoring RainerFord July 27, 2021 at 9:25 AM

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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