DEF EthernetKRL file settings in robot program

Settings in DEF KRL() file program:

EKI_Check(Ret:IN,Type:IN,strChannelName[]:IN) – Checks if there are any errors in the function

Ethernet KRL outputs a message on the smartHMI in the event of any error. The automatic output of the message can be disabled.

Check if there are any errors when running the function:

 The error number will be read and the corresponding information will be output on the smartHMI.

 Optional: If a channel name is given, an error parameter will be asked when receiving data.

Parameter 1 EKI_STATUS

The return value of the function being checked

Parameter 2 Type: ENUM

Type of information output on smartHMI:

 #NOFY: Prompt message

 #STATE: Status information

 #QUIT: Confirm information

 #WTING: Waiting for information

Parameter 3 (Optional) Type: CHAR Name of the open channel that should be checked

Example: EKI_CHECK(RET,#QUIT)

If automatic message output has been disabled, it is recommended to use EKI_CHECK() to check if there are any errors while running the function:

 The error number will be read and the corresponding information will be output on the smartHMI.

 If a channel name is given in EKI_CHECK(), it is asked whether there are errors when receiving data.

Each time EKI_CHECK() is called, the routine KRC:R1TPEthernetKRLEthernetKRL_USER.SRC is called. User-specific error responses can be set in this routine.

EKI_Open RET = EKI_Open(CHAR[]) Open the initialized channel

When the external system is configured as a server, EKI_Open() interrupts program execution until the connection to the external system is active.

The connection can only be restored using the EKI_OPEN() function.

When EKI is configured as a client, EKI connects with an external system (= server).

When EKI is configured as a server, EKI waits for connection requests from external systems (= clients).

RET = EKI_Open(channel name)

RET Feedback value, type: EKI_STATUS

Example RET = EKI_Open("Channel_1")

Program Structure:

GLOBALDEFFCKI_STATUS EKI_Open(strChannelName[]:IN)

DECLCHAR strChannelName[] Channel name variable declaration

DECLSTATE_T Stat

DECLMODUS_T Mode

DECLEKI_STATUS Ret

Mode = #SYNC Operating mode: The CWRITE statement is considered to have been executed as soon as the partner has taken the transmitted data from the receive buffer.

Ret = EKI_NULL_STATUS

CONTINUE

CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Open",strChannelName[])

Use "EFC_eki_Open" to open the channel name of the EthernetKRL file

Ret.Msg_No = Stat.Msg_No

IF(Ret.Msg_No == 0) THEN If the feedback status message number is 0, the connection is considered successful.

Ret.Connected = true

ENDIF

RETURN Ret

ENDFCT

Through the command channel $FCT_CALL

CWRITE

CWRITE calls cannot be made in triggers. Instead, CWRITE can be used in trigger subroutines.

CWRITE writes data to a loaded external module of type LD_EXT_OBJ. In the loaded external module of type LD_EXT_FCT, CWRITE calls a function.

CWRITE writes commands to command channel $CMD.

CWRITE calls a function via the command channel $FCT_CALL.

CWRITE triggers a premature run stop.

CWRITE ( HandleΙ$CMDΙ$FCT_CALL, State, Mode, Fmat, Var1 < ,

…, Var10 >)

HandleΙ type: INT

Processes the variable passed by COPEN to CWRITE to identify the channel to the external module.

$CMD predefined handle variable, used to write command channel $CMD

$FCT_CALL predefined handle variable, used to write command channel $FCT_CALL

State type: STATE_T; automatically returns to the CWRITE state

Mode type: MODUS_T; write mode must be initialized.

Format type: CHAR array

The variables Var1…Var10 must be converted to text strings before they can be written to the channel. The format defines the format of the text to be generated. A format must be specified for each variable.

Var1 … Var10

Variables whose data are written to the channel. Each statement can have up to 10 variables.

For external module of type LD_EXT_FCT and command channel $FCT_CALL: Variables Var1…Var10 contain the passed parameters of the function called with Format.

Format : read/write "format" variable

$FCT_CALL

Management number (handle) of command channel $FCT_CALL

The CWRITE() function can be used to call a function via the $FCT_CALL command channel. The variable itself is write-protected.

Function of command channel $FCT_CALL

Use CWRITE to call the file system functions of the command channel $FCT_CALL. When making the call, the function parameters must be transferred to CWRITE as Var1 ... Var10. In addition, the write mode transmitted by CWRITE must be #SYNC.

File system functions can be called from either the robot interpreter or the submission interpreter. Opening a file from one interpreter and then accessing it from another, such as writing to it or closing it again, is not allowed.

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Editor: Huang Fei