Users Manual

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DECL FRAME pose = {X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0}
RET = EKI
_
CheckBuffer("rc
_
april
_
tag
_
detect-detect", "res/tags/le/pose")
num
_
instances = RET.Buff
for i=1 to num
_
instances
RET = EKI
_
GetFrame("rc
_
april
_
tag
_
detect-detect", "res/tags/le/pose", pose)
poses[i] = pose
endfor
RET = EKI
_
ClearBuffer("rc
_
april
_
tag
_
detect-detect", "res")
Note: Before each request from EKI to the rc_visard, all buffers should be cleared in order to store only the
current response in the EKI buffers.
8.4.4 Parameters
All nodes’ parameters can be set and queried from the EKI Bridge. The XML configuration file for a generic node
follows the specification below:
<SEND>
<XML>
<ELEMENT Tag="req/node/<node
_
name>" Type="STRING"/>
<ELEMENT Tag="req/parameters/<parameter
_
x>/@value" Type="INT"/>
<ELEMENT Tag="req/parameters/<parameter
_
y>/@value" Type="STRING"/>
<ELEMENT Tag="req/end
_
of
_
request" Type="BOOL"/>
</XML>
</SEND>
<RECEIVE>
<XML>
<ELEMENT Tag="res/parameters/<parameter
_
x>/@value" Type="INT"/>
<ELEMENT Tag="res/parameters/<parameter
_
x>/@default" Type="INT"/>
<ELEMENT Tag="res/parameters/<parameter
_
x>/@min" Type="INT"/>
<ELEMENT Tag="res/parameters/<parameter
_
x>/@max" Type="INT"/>
<ELEMENT Tag="res/parameters/<parameter
_
y>/@value" Type="REAL"/>
<ELEMENT Tag="res/parameters/<parameter
_
y>/@default" Type="REAL"/>
<ELEMENT Tag="res/parameters/<parameter
_
y>/@min" Type="REAL"/>
<ELEMENT Tag="res/parameters/<parameter
_
y>/@max" Type="REAL"/>
<ELEMENT Tag="res/return
_
code/@value" Type="INT"/>
<ELEMENT Tag="res/return
_
code/@message" Type="STRING"/>
<ELEMENT Tag="res" Set
_
Flag="998"/>
</XML>
</RECEIVE>
The request is interpreted as a get request if all parameter’s value attributes are empty. If any value attribute is
non-empty, it is interpreted as set request of the non-empty parameters.
As an example, the current value of all parameters of rc
_
stereomatching can be queried using with the XML
telegram:
<req>
<node>
<rc
_
stereomatching></rc
_
stereomatching>
</node>
<parameters></parameters>
<end
_
of
_
request></end
_
of
_
request>
</req>
This XML telegram can be sent out with Ethernet KRL using:
8.4. KUKA Ethernet KRL Interface 170