Kuka KUKA.EthernetKRL 2.2, Manual

Page 1: ...KUKA System Technology KUKA EthernetKRL 2 2 For KUKA System Software 8 2 and 8 3 KUKA Roboter GmbH Issued 19 12 2012 Version KST EthernetKRL 2 2 V1 en PDF ...

Page 2: ...e case of a replacement or service work We have checked the content of this documentation for conformity with the hardware and software described Nevertheless discrepancies cannot be precluded for which reason we are not able to guarantee total conformity The information in this documentation is checked on a regular basis how ever and necessary corrections will be incorporated in the subsequent ed...

Page 3: ...ing EthernetKRL 18 5 Configuration 19 5 1 Network connection via the KLI of the robot controller 19 6 Programming 21 6 1 Configuring an Ethernet connection 21 6 1 1 XML structure for connection properties 21 6 1 2 XML structure for data reception 24 6 1 3 XML structure for data transmission 26 6 1 4 Configuration according to the XPath schema 27 6 2 Functions for data exchange 27 6 2 1 Programming...

Page 4: ...tion example 48 7 2 5 XmlCallback configuration example 48 8 Diagnosis 53 8 1 Displaying diagnostic data 53 8 2 Error protocol EKI logbook 53 8 3 Error messages 53 9 Appendix 59 9 1 Extended XML structure for connection properties 59 9 2 Increasing the memory 59 9 3 Deactivating message output and message logging 60 9 4 Command reference 60 9 4 1 Initializing opening closing and clearing a connect...

Page 5: ...to safety and must be observed This warning draws attention to procedures which serve to prevent or remedy emergencies or malfunctions For optimal use of our products we recommend that our customers take part in a course of training at KUKA College Information about the training program can be found at www kuka com or can be ob tained directly from our subsidiaries These warnings mean that it is c...

Page 6: ...o process a data memory First In First Out the elements saved first are tak en first from the memory Last In First Out the elements saved last are taken first from the memory LIFO KLI KUKA Line Interface Line bus for the integration of the system in the cus tomer network KR C KUKA Robot Controller KR C is the KUKA robot controller KRL KUKA Robot Language KRL is the KUKA robot programming language ...

Page 7: ...ark of Microsoft Corporation Windows is a trademark of Microsoft Corporation XML Extensible Markup Language Standard for creating machine readable and human readable documents in the form of a specified tree structure XPath XML Path Language Language used to write and read sections of an XML document Term Description ...

Page 8: ...8 79 Issued 19 12 2012 Version KST EthernetKRL 2 2 V1 en PDF KUKA EthernetKRL 2 2 ...

Page 9: ... on the programming method 2 2 Configuration of an Ethernet connection Description The Ethernet connection is configured via an XML file A configuration file must be defined for each connection in the directory C KRC ROBOTER Con fig User Common EthernetKRL of the robot controller The configuration is read in when initializing a connection Ethernet connections can be created and operated by the rob...

Page 10: ... reception Basic sequence marked in red Fig 2 1 1 The external system sends data which are transmitted via a protocol and received by the EKI 2 The data are stored in a structured manner in a data memory 3 The data are accessed from a KRL program in a structured manner KRL instructions are used to read the data and copy them into KRL variables Data trans mission Basic sequence marked in green Fig ...

Page 11: ... methods Data elements are taken out of the memory in the order in which they were stored there FIFO The reverse method in which the data element stored last in the memory is taken out first can be configured LIFO Each memory is assigned a common maximum limit for the data which can be saved If the limit is exceeded the Ethernet connection is immediately closed to prevent the reception of further ...

Page 12: ...ver only an individual client can connect to the server If several connections are required several servers should also be cre ated at the interface It is possible to operate several clients and servers simul taneously within the EKI 2 6 Protocol types Description The transmitted data can be packed in different formats The following formats are supported Freely configurable XML structure Binary da...

Page 13: ...ved at the interface 6 2 8 Configuration of event messages Page 36 2 8 Error treatment Description EthernetKRL provides functions for data exchange between the robot control ler and an external system Each of these functions returns values These return values can be queried and evaluated in the KRL program The following values are returned depending on the function Error number Number of elements ...

Page 14: ...ion on whether a connection exists Time stamp of the data element taken from the memory 6 2 7 EKI_STATUS Structure for function specific return values Page 35 A message is generated for each error on the smartHMI and in the EKI log book The automatic generation of messages can be deactivated ...

Page 15: ...undamental safety information for the industrial robot can be found in the Safety chapter of the Operating and Programming Instructions for System In tegrators or the Operating and Programming Instructions for End Users The Safety chapter in the operating and programming instructions must be observed Death to persons severe injuries or considerable damage to property may otherwise result ...

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Page 17: ... 5 If not the drive from which the software is being installed must be config ured first Press the Configuration button A new window opens Select a line in the Installation paths for options area Note If the line already contains a path this path will be overwritten Press Path selection The available drives are displayed Select E If stick connected to the robot controller Or select K If stick conn...

Page 18: ...nal software All additional programs installed are displayed 2 Mark the entry EthernetKRL and click on Uninstall Reply to the request for confirmation with Yes Uninstallation is prepared 3 Reboot the robot controller Uninstallation is resumed and completed LOG file A LOG file is created under C KRC ROBOTER LOG It is advisable to archive all relevant data before uninstalling a soft ware package ...

Page 19: ...ing Ethernet interfaces are available as options at the customer in terface of the robot controller depending on the specification Interface X66 1 slot Interface X67 1 3 3 slots Detailed information about network configuration via the KUKA Line Interface KLI of the robot controller is contained in the Operating and Programming Instructions for System Integrators Further information on the Ethernet...

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Page 21: ...ion ETHERNETKRL CONFIGURATION EXTERNAL EXTERNAL INTERNAL INTERNAL CONFIGURATION RECEIVE ELEMENTS ELEMENTS RECEIVE SEND ELEMENTS ELEMENTS SEND ETHERNETKRL Section Description CONFIGURATION CONFIGURATION Configuration of the connection parameters between an external system and an inter face 6 1 1 XML structure for connection properties Page 21 RECEIVE RECEIVE Configuration of the reception structure...

Page 22: ...ions of the robot interpreter Reset program Deselect program Reconfigure I Os Submit deletion after actions of the Submit interpreter Cancel submit interpreter Reconfigure I Os System deletion after system actions Reconfigure I Os Default value Program BUFFERING Mode Method used to process all data memories optional FIFO First In First Out LIFO Last In First Out Default value FIFO Limit Maximum nu...

Page 23: ... The IP address is ignored if EXTERNAL TYPE server PORT Port number of the EKI if it is defined as a server EXTERNAL TYPE client 54 600 54 615 The port number is ignored if EXTERNAL TYPE server PROTOCOL Transmission protocol optional TCP UPD Default value TCP It is recommended to always use the TCP IP protocol Messages Display Deactivates message output on smartHMI optional error message output is...

Page 24: ...r TYPE EXTERNAL INTERNAL ENVIRONMENT Program ENVIRONMENT BUFFERING Mode FIFO Limit 10 BUFFSIZE Limit 16384 TIMEOUT Connect 60000 ALIVE Set_Out 666 Ping 200 IP 192 1 10 20 IP PORT 54600 PORT PROTOCOL TCP PROTOCOL Messages Display disabled Logging error INTERNAL CONFIGURATION Element Attribute Description ELEMENT Tag Name of the element The XML structure for data reception is defined here XPath 6 1 ...

Page 25: ...ttribute Description Element Attribute Description ELEMENT Tag Name of the element ELEMENT Type Data type of the element BYTE Binary data record of fixed length STREAM Variable binary data record with end string ELEMENT Set_Out Sets an output or flag after receiving the ele ment optional Number of the output 1 4 096 Number of the flag 1 1 025 Set_Flag ELEMENT EOS End string of an elementary piece ...

Page 26: ...te Type INT ELEMENT Tag Ext Integer BState Type INT ELEMENT Tag Ext Boolean CState Type BOOL ELEMENT Tag Ext Frames Frame1 Type FRAME ELEMENT Tag Ext Attributes A1 Type STRING ELEMENT Tag Ext Attributes A2 Type INT ELEMENT Tag Ext Set_Flag 56 XML RECEIVE RECEIVE RAW ELEMENT Tag RawData Type BYTE Size 1408 Set_Flag 14 RAW RECEIVE RECEIVE RAW ELEMENT Tag MyStream Type STREAM EOS 123 134 21 Size 836 ...

Page 27: ...smission Configured XML structure for data transmission 6 2 Functions for data exchange Overview EthernetKRL provides functions for data exchange between the robot control ler and an external system Exact descriptions of the functions can be found in the appendix 9 4 Command reference Page 60 Robot Mode Mode RobotLamp GrenLamp LightOn LightOn GrenLamp RobotLamp Robot SEND XML ELEMENT Tag Robot Mod...

Page 28: ...It is possible to create a larger array in KRL e g my Frame 1000 but only a maximum of 512 elements can be read There are various possibilities of waiting for data Sending data EKI_STATUS EKI_Send CHAR CHAR Writing data EKI_STATUS EKI_SetReal CHAR CHAR REAL EKI_STATUS EKI_SetInt CHAR CHAR INTEGER EKI_STATUS EKI_SetBool CHAR CHAR BOOL EKI_STATUS EKI_SetFrame CHAR CHAR FRAME EKI_STATUS EKI_SetString...

Page 29: ...nd initialized with the EKI_Init function The connection configuration specified in the function is read in A connection can be created both in the robot interpreter and in the Submit interpreter A connection can be deleted again in the robot or Submit interpreter using the EKI_Clear function The deletion of a connection can additionally be linked to robot interpreter and Submit interpreter action...

Page 30: ...s deleted after the following actions Reconfigure I Os 6 2 3 Opening and closing a connection Description The connection to the external system is established by means of a KRL pro gram Most KRL programs are structured as follows Fig 6 2 Submit connection configuration The driver is reloaded when reconfiguring the I Os i e all initializa tions are deleted Fig 6 3 System connection configuration Th...

Page 31: ...r EKI_Close clos es the connection to the external server 6 2 4 Sending data Description Depending on the configuration and programming the following data can be sent with EKI_Send Complete XML structure Partial XML structure XML data directly as string Binary data record with end string EOS directly as string Binary data record of fixed length directly as string Binary data records of fixed lengt...

Page 32: ... Programming Sent string Binary data example Direct sending of a binary data record of fixed length 10 bytes Configured raw data Programming Robot ActPos X 1000 12 ActPos Status 12345678 Status Robot DECL EKI_STATUS RET RET EKI_Send Channel_1 Robot Robot ActPos X 1000 12 ActPos Status 12345678 Status Robot Robot ActPos X 1000 12 ActPos Status 12345678 Status Robot DECL EKI_STATUS RET RET EKI_Send ...

Page 33: ...data record out of a memory Binary data records are read out of the memory as strings Binary data records of fixed length must be divided into individual variables again in the KRL program with CAST_FROM XML data example Saved XML structure for data reception Programming DECL EKI_STATUS RET CHAR Bytes 10 OFFSET 0 CAST_TO Bytes OFFSET 91984754 913434 2 TRUE X RET EKI_Send Channel_1 Bytes r _I X RAW...

Page 34: ...FOR valueBOOL FALSE RET EKI_GetString Channel_1 Sensor Message valueChar RET EKI_GetBool Channel_1 Sensor Status IsActive valueBOOL valueChar Example message valueBOOL TRUE RAW ELEMENT Tag Buffer Type BYTE Size 10 RAW Declaration INT i INT OFFSET DECL EKI_STATUS RET CHAR Bytes 10 INT valueInt REAL valueReal BOOL valueBool CHAR valueChar 1 Initialization FOR i 1 TO 10 Bytes i 0 ENDFOR OFFSET 0 valu...

Page 35: ... structure variable to which these values are written Syntax GLOBAL STRUC EKI_STATUS INT Buff Read Msg_No BOOL Con nected INT Counter Explanation of the syntax Declaration INT i DECL EKI_STATUS RET CHAR Bytes 64 Initialization FOR i 1 TO 64 Bytes i 0 ENDFOR RET EKI_GetString Channel_1 Buffer Bytes XML data are extracted by the EKI and stored type specifically in dif ferent memories When deleting i...

Page 36: ...d at the interface Connected Indicates whether a connection exists TRUE connection present FALSE connection interrupted Counter Time stamp for received data packets Data packets arriving in the memory are numbered consecutively in the order in which they are stored in the memory If individual data are read the Counter structure ele ment is assigned the time stamp of the data packet from which the ...

Page 37: ...n the memory If LIFO is configured and two or more XML data records arrive at the interface directly in succession it is no longer ensured that a data record can be fetched in a non fragmented condition from the memory It may for example be the case that the data of the second data record are already stored in the memory although the first data record has not yet been completely processed The data...

Page 38: ...red during execution of an EthernetKRL function The error number is read out and the corresponding message is displayed on the smartHMI If a channel name is specified in EKI_CHECK it is checked during data reception whether errors have occurred 9 4 5 Checking a function for errors Page 67 The program KRC R1 TP EthernetKRL EthernetKRL_USER SRC is called up each time EKI_CHECK is called up User spec...

Page 39: ... 79 Issued 19 12 2012 Version KST EthernetKRL 2 2 V1 en PDF 6 Programming DEF CON_ERR DECL EKI_STATUS RET RET Buff 0 Read 0 Msg_no 0 Connected false EKI_CHECK RET Quit XmlTransmit EKI_OPEN XmlTransmit END ...

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Page 41: ...ML files into the directory C KRC ROBOTER Config Us er Common EthernetKRL of the robot controller 4 Start the server program on the external system 5 Press the menu button The Communication Properties window ap pears 6 Only if several network interfaces are available at the external system En ter the number of the network adapter network card index used for communication with the robot controller ...

Page 42: ... the data received Displaying the data sent Fig 7 1 Server program user interface Item Description 1 Message window 2 Display of the communication parameters set 7 1 3 Setting communication parameters in the server pro gram Page 43 P port number E example data Xml XML data BinaryFixed binary data of fixed length BinaryStream variable binary data stream with end string A communication mode Autorepl...

Page 43: ...luated The first incoming connection request is linked and used as a communication adapter 5 Menu button for setting the communication parameters 7 1 3 Setting communication parameters in the server pro gram Page 43 6 Display options Arrow pointing to the left the received RDC data are displayed Default Arrow pointing to the right the sent RDC data are displayed 7 Button for manual data reception ...

Page 44: ...ring Default value xml Autoresponder Select communication mode Autoreply The server automatically responds to each data package received Manual only manual data reception or data trans mission Default value Autoreply Portnumber Enter the port number of the socket connection The external system awaits the connection request from the robot controller at this port A free number that is not assigned a...

Page 45: ... FLAG 1 FALSE 17 18 OFFSET 0 19 CAST_FROM Bytes OFFSET valueReal valueInt valueChar valueBool 20 21 22 RET EKI_Close BinaryFixed 23 RET EKI_Clear BinaryFixed 24 END Line Description 4 Initialization of KRL variables by the assignment of values 6 EKI_Init initializes the channel used by the interface to con nect to the external system 7 EKI_Open opens the channel and connects to the server 9 10 CAS...

Page 46: ...eam Bytes 12 13 WAIT FOR FLAG 1 14 RET EKI_GetString BinaryStream Buffer Bytes 15 FLAG 1 FALSE 16 17 RET EKI_Close BinaryStream 18 RET EKI_Clear BinaryStream 19 20 END Line Description 4 Initialization of KRL variables by the assignment of values 6 EKI_Init initializes the channel used by the interface to con nect to the external system 7 EKI_Open opens the channel and connects to the server 9 The...

Page 47: ...ata LastPos B ELEMENT Tag Robot Data LastPos C ELEMENT Tag Robot Data ActPos X ELEMENT Tag Robot Status ELEMENT Tag Robot Mode ELEMENT Tag Robot RobotLamp GrenLamp LightOn XML SEND ETHERNETKRL 1 DEF XmlTransmit 2 Declaration 3 Communicated data 4 INI 5 Initialize sample data 6 7 RET EKI_Init XmlTransmit 8 RET EKI_Open XmlTransmit 9 10 Write data to connection 11 Send data to external program 12 Ge...

Page 48: ...L RECEIVE SEND XML ELEMENT Tag Robot B XML SEND ETHERNETKRL 1 DEF XmlServer 2 Declaration 3 INI 4 5 RET EKI_Init XmlServer 6 RET EKI_Open XmlServer 7 8 wait until server is conntected 9 wait for FLAG 1 10 wait until server is deconnected 11 wait for FLAG 1 FALSE 12 13 RET EKI_Clear XmlServer 14 END Line Description 5 EKI_Init initializes the channel used by the external system to connect to the in...

Page 49: ...PORT EXTERNAL CONFIGURATION RECEIVE XML ELEMENT Tag Sensor Message Type STRING ELEMENT Tag Sensor Positions Current X Type REAL ELEMENT Tag Sensor Positions Before X Type REAL ELEMENT Tag Sensor Nmb Type INT ELEMENT Tag Sensor Status IsActive Type BOOL ELEMENT Tag Sensor Read xyzabc Type FRAME ELEMENT Tag Sensor Show error Type BOOL ELEMENT Tag Sensor Show temp Type INT ELEMENT Tag Sensor Show Typ...

Page 50: ...llBack 18 END 19 20 DEF GET_DATA 21 Declaration 22 Initialize sample data 23 Get received sensor data 24 Signal read Line Description 5 Declaring and switching on the interrupt 7 EKI_Init initializes the channel used by the interface to con nect to the external system 8 EKI_Open opens the channel 10 Writes data in the saved XML document for data transmission 11 Sends the data 14 Waits for FLAG 1 T...

Page 51: ...nsor Message Example message Message Positions Current X 4645 2 Before X 0 9842 X Before Positions Nmb 8 Nmb Status IsActive 1 IsActive Status Read xyzabc X 210 3 Y 825 3 Z 234 3 A 84 2 B 12 3 C 43 5 Read Show error 0 temp 9929 Taginfo in attributes Show Free 2912 Free Sensor ...

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Page 53: ...utomatic generation of mes sages is deactivated the message can still be displayed on the smartHMI by means of EKI_CHECK Name Description Total memory Total available memory bytes Allocated memory Used memory bytes Robot program con nections Number of connections initialized by the robot interpreter Submit program con nections Number of connections initialized by the Submit interpreter System conn...

Page 54: ... on the error 10 KUKA Service Page 69 5 Creation of XML parser failed The connection has not been initialized since the internal system parser could not be activated Contact KUKA Roboter GmbH and submit the log book with details on the error 10 KUKA Service Page 69 6 Interpretation of configura tion failed Error when reading the connection configuration Check the configuration of the Ethernet conn...

Page 55: ... the EKI_Get function in the KRL program to avoid accessing empty memories Buff element 6 2 7 EKI_STATUS Structure for function specific return values Page 35 16 Element not found A data element specified in the EKI_Get access function cannot be found Check the name of the data element and its notation in the KRL pro gram Check the configura tion of the reception structure 17 Assembly of data to s...

Page 56: ...in the configuration file 24 Link to internal parame ters Port IP failed The Ethernet connection i e the interface is config ured as a server The IP address and port number of the external system specified in the configura tion are not available Use the correct IP address and port number in the configuration of the con nection parameters IP ele ments PORT 25 Internal software error Internal softwa...

Page 57: ...eived data Buff ele ment 6 2 7 EKI_STATUS Structure for function specific return values Page 35 OR Increase the data memory BUFFERING element in the connection configura tion 1536 Received string too long Programming error on external system a string received from the external system exceeds the maxi mum permissible length max 3 600 characters Check the data sent by the external system 1792 Limit ...

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Page 59: ...Open the file C KRC ROBOTER Config User Common Ethernet KRL XML 2 Enter the desired memory capacity in bytes in the MemSize element in the EthernetKRL section The extended XML structure may only be used in consultation with KUKA Roboter GmbH 10 KUKA Service Page 69 Element Attribute Description TIMEOUT Receive Time until the attempt to receive data is aborted optional 0 65 534 ms Default value 0 m...

Page 60: ...Procedure 1 Open the configuration file of the Ethernet connection in the directory C KRC ROBOTER Config User Common EthernetKRL of the robot con troller 2 Enter the following line in the section INTERNAL INTERNAL of the XML file 3 Save the change and close the file 9 4 Command reference 9 4 1 Initializing opening closing and clearing a connection Messages Display disabled Logging disabled If auto...

Page 61: ...rn values of the function Return values Page 36 Example RET EKI_Close Channel_1 RET EKI_Clear CHAR Function Deletes a channel and terminates the connection Parameter Type CHAR Name of channel RET Type EKI_STATUS Return values of the function Return values Page 36 Example RET EKI_Clear Channel_1 RET EKI_Send CHAR CHAR Function Sends an XML structure or raw data 6 2 4 Sending data Page 31 Parameter ...

Page 62: ...hannel Parameter 2 Type CHAR Name of the position in the XML structure Parameter 3 Type INT Value written in the memory RET Type EKI_STATUS Return values of the function Return values Page 36 Example RET EKI_SetInt Channel_1 Root List 67234 RET EKI_SetBool CHAR CHAR BOOL Function Writes a Boolean value in a memory Parameter 1 Type CHAR Name of the open channel Parameter 2 Type CHAR Name of the pos...

Page 63: ... the position in the XML structure Parameter 3 Type CHAR String written in the memory Maximum number of characters 3 600 RET Type EKI_STATUS Return values of the function Return values Page 36 Example RET EKI_SetString Channel_1 Root Message Hello RET EKI_SetFrame CHAR CHAR FRAME RET EKI_GetBool CHAR CHAR BOOL Function Reads a Boolean value out of a memory Parameter 1 Type CHAR Name of the open ch...

Page 64: ...nel_1 Root Activ MyBool RET EKI_GetInt CHAR CHAR Int Function Reads an integer value out of a memory Parameter 1 Type CHAR Name of the open channel Parameter 2 Type CHAR Name of the position in the XML structure Parameter 3 Type INT Value read out of the memory RET Type EKI_STATUS Return values of the function Return values Page 36 Example RET EKI_GetInt Channel_1 Root Numbers One MyInteger RET EK...

Page 65: ...HAR CHAR Real Function Reads a floating point value out of a memory and cop ies the value into the array transferred by the KRL pro gram Values are read until the array is full or no element is present anymore Parameter 1 Type CHAR Name of the open channel Parameter 2 Type CHAR Name of the position in the XML structure Parameter 3 Type REAL Array read out of the memory Maximum number of readable a...

Page 66: ...r 3 Type FRAME Value read out of the memory RET Type EKI_STATUS Return values of the function Return values Page 36 Example RET EKI_GetFrame Channel_1 Root TCP MyFrame RET EKI_GetFrameArray CHAR CHAR FRAME Function Reads a FRAME type value out of a memory and cop ies the value into the array transferred by the KRL pro gram Values are read until the array is full or no element is present anymore Pa...

Page 67: ...UM Type of message displayed on the smartHMI NOTIFY Notification message STATE Status message QUIT Acknowledgement message WAITING Wait message Parameter 3 optional Type CHAR Name of the open channel Example 1 EKI_CHECK RET QUIT Example 2 EKI_CHECK RET NOTIFY MyChannelName RET EKI_ClearBuffer CHAR CHAR Function Deletes data which have been received but not yet called up from a memory Parameter 1 T...

Page 68: ... of channel RET Type EKI_STATUS Return values of the function Return values Page 36 RET EKI_CheckBuffer CHAR CHAR Function Checks how many data elements are still in the mem ory The memory is not changed Additionally the time stamp of the next data element ready to be taken from the memory is returned Parameter 1 Type CHAR Name of channel Parameter 2 Type CHAR Position of the memory RET Type EKI_S...

Page 69: ...oftware Optional software or modifications Archive of the software For KUKA System Software V8 instead of a conventional archive gener ate the special data package for fault analysis via KrcDiag Application used Any external axes used Description of the problem duration and frequency of the fault 10 2 KUKA Customer Support Availability KUKA Customer Support is available in many countries Please do...

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Page 77: ...65 EKI_Init 29 60 EKI_Lock 67 EKI_Open 31 61 EKI_Send 31 61 EKI_SetBool 62 EKI_SetFrame 62 EKI_SetInt 62 EKI_SetReal 62 EKI_SetString 63 EKI_STATUS 35 EKI_Unlock 68 End string 6 EOS 6 Error messages 53 Error protocol 53 Error response programming 38 Error treatment 13 Ethernet 6 Ethernet connection configuration 9 21 Ethernet interfaces 19 EthernetKRL_Server exe 41 EthernetKRL overview 9 Event mes...

Page 78: ...am setting communication parame ters 43 Server program user interface 42 Service KUKA Roboter 69 smartHMI 6 Socket 6 Software 17 Support request 69 System requirements 17 T Target group 5 TCP IP 6 Terms used 6 Terms used 6 Time stamp 36 Trademarks 7 Training 5 U UDP IP 6 Uninstallation EthernetKRL 18 Update EthernetKRL 17 W Warnings 5 X XML 7 XML file examples 41 XPath 7 24 26 27 ...

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