KSS_82_CREAD_CWRITE_en

CommunicationCREAD/CWRITEProgrammingCREAD/CWRITEandRelatedStatementsForKUKASystemSoftware8.2ForVWSystemSoftware8.2KUKARoboterGmbHIssued:03.08.2011Version:KSS8.2CREAD/CWRITEV1enCREAD/CWRITE2/67Issued:03.08.2011Version:KSS8.2CREAD/CWRITEV1en©Copyright2011KUKARoboterGmbHZugspitzstraße140D-86165AugsburgGermanyThisdocumentationorexcerptstherefrommaynotbereproducedordisclosedtothirdpartieswithouttheexpresspermissionofKUKARoboterGmbH.Otherfunctionsnotdescribedinthisdocumentationmaybeoperableinthecontroller.Theuserhasnoclaimstothesefunctions,however,inthecaseofareplacementorservicework.Wehavecheckedthecontentofthisdocumentationforconformitywiththehardwareandsoftwaredescribed.Nevertheless,discrepanciescannotbeprecluded,forwhichreasonwearenotabletoguaranteetotalconformity.Theinformationinthisdocumentationischeckedonaregularbasis,how-ever,andnecessarycorrectionswillbeincorporatedinthesubsequentedition.Subjecttotechnicalalterationswithoutaneffectonthefunction.TranslationoftheoriginaldocumentationKIM-PS5-DOCPublication:PubKSS8.2CREAD/CWRITEenBookstructure:KSS8.2CREAD/CWRITEV1.1Label:KSS8.2CREAD/CWRITEV1en3/67Issued:03.08.2011Version:KSS8.2CREAD/CWRITEV1enContents1Introduction..................................................................................................51.1Targetgroup..............................................................................................................51.2Industrialrobotdocumentation...................................................................................51.3Representationofwarningsandnotes......................................................................51.4Termsused................................................................................................................62Descriptionoffunctions.............................................................................73Safety............................................................................................................94Communicationchannels...........................................................................114.1Communicationviaexternalmodules........................................................................114.2Communicationviathecommandchannel$CMD.....................................................114.3Communicationviathecommandchannel$FCT_CALL...........................................125Configuringtheexternalmodules.............................................................136Programming...............................................................................................156.1Programmingoverview..............................................................................................156.2Symbolsandfonts.....................................................................................................156.3CHANNEL..................................................................................................................156.4COPEN......................................................................................................................166.5CREAD......................................................................................................................176.5.1ReadmodeforCREAD........................................................................................186.6CWRITE.....................................................................................................................196.6.1WritemodeforCWRITE.......................................................................................206.7CCLOSE....................................................................................................................206.8CIOCTL......................................................................................................................216.9SREAD.......................................................................................................................226.10SWRITE.....................................................................................................................236.11CAST_TO..................................................................................................................246.12CAST_FROM.............................................................................................................256.13PermissibledatatypesinCASTstatements..............................................................266.14Statevariable..........................................................................................................276.14.1StructuretypeSTATE_T.......................................................................................276.14.2Returnvaluesforthevariable“RET1”..................................................................276.15Formatvariable.......................................................................................................296.15.1“Format”variableforCREAD/SREAD..................................................................296.15.2“Format”variablefo