Users Manual

Note: By default the XML configuration files uses 998 as flag to notify KRL that the response data record has
being received. If this value is already in use, it should be changed in the corresponding XML configuration
file.
Return code
The <return
_
code> element consists of a value and a message attribute.
As for all other components, a successful request returns with a res/return
_
code/@value of 0. Negative values
indicate that the request failed. The error message is contained in res/return
_
code/@message. Positive values
indicate that the request succeeded with additional information, contained in res/return
_
code/@message as
well.
The following codes can be issued by the EKI Bridge component.
Table 8.4.1: Return codes of the EKI Bridge component
Code Description
0 Success
-1 Parsing error in the conversion from XML to JSON
-2 Internal error
-9 Missing or invalid license for EKI Bridge component
-11 Connection error from the REST-API
Note: The EKI Bridge can also return return code values specific to individual nodes. They are documented in
the respective software component (Section 6).
Note: Due to limitations in KRL, the maximum length of a string returned by the EKI Bridge is 512 characters.
All messages larger than this value are truncated.
8.4.3 Services
For the nodes’ services, the XML schema is generated from the service’s arguments and response in JavaScript Ob-
ject Notation (JSON) described in Software components (Section 6) and Optional software components (Section
7). The conversion is done transparently, except for the conversion rules described below.
Conversions of poses:
A pose is a JSON object that includes position and orientation keys.
{
"pose": {
"position": {
"x": "float64",
"y": "float64",
"z": "float64",
},
"orientation": {
"x": "float64",
"y": "float64",
"z": "float64",
"w": "float64",
}
}
}
This JSON object is converted to a KRL FRAME in the XML message.
8.4. KUKA Ethernet KRL Interface 166