KUKA库卡机器人编程如何log数据(日志)

 KUKA机器人维修     |      2020-01-03

下面讲下如何将一些数据log下来，可以基于机器人本身的CWRITE指令来实现此功能：
 
(1).Log文件自动以时间命名；
 
(2).每隔10秒log一次；
 
(3).每条信息独立一行；
 
具体实现过程如下：
 
1.在SmartPad上创建一个xxx.src,如下：

	

		 

	

		DEF Write_File( )

	

		DECL INT handle

	

		DECL STATE_T STAT

	

		DECL MODUS_T MODE

	

		DECL CHAR AxisPos[256]

	

		DECL CHAR ProState[256]

	

		DECL CHAR ErrorID[256]

	

		DECL CHAR FILENAME[256]

	

		DECL INT  Offset

	

		DECL BOOL bok

	

		DECL char LF 

	

		MODE = #SYNC

	

		HANDLE = 0

	

		OFFSET=0

	

		bOK=STRCLEAR(AXISPos[])

	

		BOK=STRCLEAR(Prostate[])

	

		BOK=STRCLEAR(ERRORID[])

	

		LF = 10

	

		 

	

		SWRITE(AxisPos[],STAT,Offset,"%S:%F|%F|%F|%F|%F|%F","Current Axis Position",$AXIS_ACT.A1,$AXIS_ACT.A2,$AXIS_ACT.A3,$AXIS_ACT.A4,$AXIS_ACT.A5,$AXIS_ACT.A6)

	

		Offset=0

	

		SWITCH $PRO_STATE1

	

		  CASE #P_ACTIVE

	

		    ProState[]="Program State: RobotProgram is selected and running!"

	

		    CASE #P_FREE

	

		    ProState[]="Program State: RobotProgram is deselected!"

	

		    CASE #P_END

	

		    ProState[]="Program State: RobotProgram is selected and the end of program has been reached!"

	

		    CASE #P_RESET

	

		    ProState[]="Program State: RobotProgram is selected and has been stopped and reset!"

	

		    CASE #P_STOP

	

		    ProState[]="Program State: RobotProgram is selected and has been stopped!"

	

		ENDSWITCH

	

		SWRITE(ERRORID[],STAT,offset,"ErrorINFO: ERRORID-%D|LINENR-%D|PROG-%S|SUB-%S",$ERR.NUMBER,$ERR.LINE_NR,$ERR.MODULE[],$ERR.UP_NAME[])

	

		offset=0

	

		IF STRCLEAR(FILENAME[])THEN

	

		SWRITE(FILENAME[],STAT,offset,"%D%D%D-%Dh%Dm%Ds.txt",($DATE.year),($DATE.MONTH),($DATE.DAY),($DATE.HOUR),($DATE.MIN),($DATE.SEC))

	

		ENDIF

	

		WAIT FOR TIMER_LIMIT(10)     

	

		CWRITE($FCT_CALL,STAT,MODE, "krl_fopen",FILENAME[], "w", HANDLE)

	

		CWRITE($FCT_CALL, STAT, MODE, "krl_fputs", HANDLE, AxisPos[])

	

		CWRITE($FCT_CALL, STAT, MODE, "krl_fputc", HANDLE, LF)        

	

		CWRITE($FCT_CALL, STAT, MODE, "krl_fputs", HANDLE, PROSTATE[])

	

		CWRITE($FCT_CALL, STAT, MODE, "krl_fputc", HANDLE, LF)        

	

		CWRITE($FCT_CALL, STAT, MODE, "krl_fputs", HANDLE, ErrorID[])

	

		CWRITE($FCT_CALL, STAT, MODE, "krl_fclose", HANDLE)

	

		END

	

		2.在SPS里调用该程序：

	

		

	

		3.确保SPS运行：

	

		

	

		4.在机器人控制器路径下C:\KRC\Roboter\Userfiles看生成的log文件：

	

		

	

		5.查看具体log文件：