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6040-003/KUKA/KRC/R1/TP/EthernetKRL/EthernetKRL.src
zhusenlin cee4549e79 更新优化程序
2026-02-11 17:34:41 +08:00

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&ACCESS RO2
&REL 2396
&PARAM DISKPATH = KRC:\R1\TP\EthernetKRL
DEF EthernetKRL( )
;************************************************************
; CopyRight KUKA Deutschland GmbH 2018
; last modified 11.07.2012
; prefix EKI
; functions Interface between KRL and Ethernet (non Realtime)
; This file is mainly designed to communicate
; with external devices like sensors, vision
; systems, other controllers and so on.
;************************************************************
END
;FOLD EKI_InternalProgram
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_Init(strChannelName[]:IN)
DECL CHAR strChannelName[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Ret = EKI_NULL_STATUS
Mode = #SYNC
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Init",strChannelName[])
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_Close(strChannelName[]:IN)
DECL CHAR strChannelName[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Ret = EKI_NULL_STATUS
Mode = #SYNC
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Close",strChannelName[])
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_LOCK(strChannelName[]:IN)
DECL CHAR strChannelName[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
DECL BOOL LOCK
Ret = EKI_NULL_STATUS
Mode = #SYNC
LOCK = TRUE
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_LockUnLock",strChannelName[], LOCK, Ret.Connected)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_UNLOCK(strChannelName[]:IN)
DECL CHAR strChannelName[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
DECL BOOL LOCK
Ret = EKI_NULL_STATUS
Mode = #SYNC
LOCK = FALSE
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_LockUnLock",strChannelName[], LOCK, Ret.Connected)
; interrupt timeout to detect new edge
CONTINUE
wait sec 0.002
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_ClearBuffer(strChannelName[]:IN,strPlace[]:IN)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Ret = EKI_NULL_STATUS
Mode = #SYNC
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_ClearBuff",strChannelName[],strPlace[],Ret.Connected)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_Open(strChannelName[]:IN)
DECL CHAR strChannelName[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Open",strChannelName[])
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
IF (Ret.Msg_No == 0) THEN
Ret.Connected = true
ENDIF
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_Clear(strChannelName[]:IN)
DECL CHAR strChannelName[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Clear",strChannelName[])
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_GetInteger(strChannelName[]:IN,strPlace[]:IN,value:OUT)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL INT value
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value,Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
GLOBAL DEFFCT EKI_STATUS EKI_GetInt(strChannelName[]:IN,strPlace[]:IN,value:OUT)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL INT value
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value,Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_GetIntegerArray(strChannelName[]:IN,strPlace[]:IN,value[]:OUT)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL INT value[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value[],Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
GLOBAL DEFFCT EKI_STATUS EKI_GetIntArray(strChannelName[]:IN,strPlace[]:IN,value[]:OUT)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL INT value[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value[],Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_GetBool(strChannelName[]:IN,strPlace[]:IN,value:OUT)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL BOOL value
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value,Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
GLOBAL DEFFCT EKI_STATUS EKI_GetBoolArray(strChannelName[]:IN,strPlace[]:IN,value[]:OUT)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL BOOL value[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value[],Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_GetReal(strChannelName[]:IN,strPlace[]:IN,value:OUT)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL REAL value
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value,Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
GLOBAL DEFFCT EKI_STATUS EKI_GetRealArray(strChannelName[]:IN,strPlace[]:IN,value[]:OUT)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL REAL value[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value[],Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_GetString(strChannelName[]:IN,strPlace[]:IN,value[]:OUT)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL CHAR value[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],value[],Ret.Buff, Ret.Read, TYPENULL,Ret.Connected, Ret.Counter)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_GetFrame(strChannelName[]:IN,strPlace[]:IN,value:OUT)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL FRAME value
DECL CHAR Buff[24]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
DECL INT Offset
Mode = #SYNC
Ret = EKI_NULL_STATUS
Ret.buff=1
Offset = 0
Cast_To(Buff[], Offset,value)
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],Buff[],Ret.Buff, Ret.Read, TYPEFRAME,Ret.Connected, Ret.Counter)
Offset=0
Cast_From(Buff[], Offset,value)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
GLOBAL DEFFCT EKI_STATUS EKI_GetFrameArray(strChannelName[]:IN,strPlace[]:IN,value[]:OUT)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL FRAME value[]
DECL CHAR Buff[3600]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
DECL INT Offset
DECL INT i,arraysize
DECL BOOL ReadContinue
DECL INT MayArrSz
DECL INT ReadElements
MayArrSz = 150
Mode = #SYNC
Ret = EKI_NULL_STATUS
REPEAT
ReadContinue = false
ReadElements=0
arraysize=0
; detect array size!
Offset=0
WHILE(($ERR.NUMBER==0) AND (arraysize<MayArrSz))
arraysize = arraysize + 1
ON_ERROR_PROCEED
CAST_TO(Buff[],Offset,value[arraysize+Ret.read])
ENDWHILE
IF ((arraysize+Ret.read == 1) AND ($ERR.NUMBER<>0)) THEN
Ret.Msg_No = -26
EXIT
ENDIF
IF ((arraysize == 1) AND ($ERR.NUMBER<>0)) THEN
EXIT
ENDIF
IF ((arraysize == MayArrSz) AND ($ERR.NUMBER==0)) THEN
ReadContinue = true;
ELSE
arraysize = arraysize - 1
ENDIF
Ret.Buff = arraysize
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Get",strChannelName[],strPlace[],Buff[],Ret.Buff,ReadElements, TYPEFRAME,Ret.Connected, Ret.Counter)
Offset = 0
FOR i=1 to ReadElements
Cast_From(Buff[], Offset,value[i + Ret.Read])
ENDFOR
Ret.Read = Ret.Read + ReadElements
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
UNTIL ((Ret.Msg_No <> 0) OR (ReadContinue == false) OR (Ret.Buff == 0) OR (arraysize<MayArrSz))
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_Send(strChannelName[]:IN,strPlace[]:IN, Len:IN)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
DECL INT Len
Mode = #SYNC
Ret = EKI_NULL_STATUS
IF (VARSTATE("Len") == #Declared) THEN
Len = 0
ENDIF
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Send",strChannelName[],strPlace[],Ret.Connected,Len)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_SetInt(strChannelName[]:IN,strPlace[]:IN,value:IN)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL INT value
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Set",strChannelName[],strPlace[],value,TYPENULL,Ret.Connected)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_SetReal(strChannelName[]:IN,strPlace[]:IN,value:IN)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL REAL value
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Set",strChannelName[],strPlace[],value,TYPENULL,Ret.Connected)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_SetBool(strChannelName[]:IN,strPlace[]:IN,value:IN)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL BOOL value
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Set",strChannelName[],strPlace[],value,TYPENULL,Ret.Connected)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_SetString(strChannelName[]:IN,strPlace[]:IN,value[]:IN)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL CHAR value[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Set",strChannelName[],strPlace[],value[],TYPENULL,Ret.Connected)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_SetFrame(strChannelName[]:IN,strPlace[]:IN,value:IN)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL FRAME value
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
DECL CHAR BUFF[24]
DECL INT Offset
Mode = #SYNC
Ret = EKI_NULL_STATUS
Offset = 0
Cast_To(BUFF[], Offset,value)
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_Set",strChannelName[],strPlace[], BUFF[], TYPEFRAME,Ret.Connected)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_SetParameter(strChannelName[]:IN,strParName[]:IN,strValue[]:IN)
DECL CHAR strChannelName[]
DECL CHAR strParName[]
DECL CHAR strValue[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_SetParam",strChannelName[],strParName[],strValue[],Ret.Connected)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
GLOBAL DEF EKI_Check(Ret:IN,Type:IN,strChannelName[]:IN)
DECL CHAR strChannelName[]
DECL EKI_STATUS Ret
DECL EKrlMsgType Type
INT Handle
DECL KrlMsg_T name
DECL KrlMsgPar_T params[3]
DECL KrlMsgOpt_T options
DECL STATE_T Stat
DECL MODUS_T Mode
DECL INT Offset
DECL INT Filter
DECL INT i
IF (VARSTATE("strChannelName[]")==#INITIALIZED) THEN
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_CheckErr",strChannelName[],Ret.Connected)
Ret.Msg_No = -Stat.Msg_No
ENDIF
Ret.Msg_No = (ERRMSG_ALL B_AND Ret.Msg_No)
IF (Ret.Msg_No <>0) THEN
name={modul[] "EthernetKRL", Nr 1, msg_txt[] "0"}
Filter = 255
FOR i=(0) TO (1)
name.nr = (Ret.Msg_No B_AND Filter)
IF (name.nr <> 0) THEN
Offset = 0
CONTINUE
SWRITE(name.msg_txt[],Stat,Offset,"eki%i",name.nr)
Handle = Set_KrlMsg(Type, name, params[], options)
ENDIF
Filter = 65280
ENDFOR
IF(Type==#Quit) THEN
WHILE(Exists_KrlMsg(Handle))
wait sec 0.2
ENDWHILE
ENDIF
ENDIF
IF (VARSTATE("strChannelName[]")==#INITIALIZED) THEN
EKI_Check_User(Ret,Type,strChannelName[])
ELSE
EKI_Check_User(Ret,Type)
ENDIF
END
; ===========================================================
GLOBAL DEFFCT EKI_STATUS EKI_CheckBuffer(strChannelName[]:IN,strPlace[]:IN)
DECL CHAR strChannelName[]
DECL CHAR strPlace[]
DECL STATE_T Stat
DECL MODUS_T Mode
DECL EKI_STATUS Ret
Mode = #SYNC
Ret = EKI_NULL_STATUS
CONTINUE
CWRITE($FCT_CALL,Stat,Mode,"EFC_eki_CheckBuff",strChannelName[],strPlace[],Ret.Buff,Ret.Connected, Ret.Counter)
Ret.Msg_No = -Stat.Msg_No
showMsgDepend(Ret)
RETURN Ret
ENDFCT
; ===========================================================
DEF showMsgDepend(Ret:OUT)
DECL EKI_STATUS Ret
IF (Ret.Msg_no B_AND ERRMSG_FORBIDDEN)==0 THEN
EKI_CHECK(Ret,#QUIT)
ENDIF
Ret.Msg_no = Ret.Msg_no B_AND ERRMSG_ALL
END
;ENDFOLD EKI_InternalProgram
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