上位機(jī)C#通過(guò)TCPIP和庫(kù)卡機(jī)器人通訊
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您是否對(duì)將工業(yè)自動(dòng)化集成到您的設(shè)施中感興趣？如果是這樣，那么您應(yīng)該致電工業(yè)自動(dòng)化和集成領(lǐng)域的領(lǐng)導(dǎo)者工博士。工博士是包括FANUC，Yaskawa，KUKA，Kawasaki和ABB在內(nèi)的多家不同機(jī)器人公司的認(rèn)證集成商。我們的員工致力于幫助您為您的行業(yè)和預(yù)算構(gòu)建和定制完美的自動(dòng)化系統(tǒng)。
因?yàn)楸疚牟皇墙榻B該軟件的安裝，所以就不多做解釋?zhuān)旅娴膬?nèi)容默認(rèn)已經(jīng)能用自帶的測(cè)試軟件獲取庫(kù)卡機(jī)器人發(fā)送過(guò)來(lái)的數(shù)據(jù)。在此基礎(chǔ)上，我來(lái)說(shuō)一下c#利用tcp/ip是如何跟庫(kù)卡機(jī)器人進(jìn)行通訊的.
 
首先當(dāng)然是TCP/IP的基礎(chǔ)部分，服務(wù)器和客戶(hù)端。這里將庫(kù)卡機(jī)器人作為客戶(hù)端，上位機(jī)作為服務(wù)器進(jìn)行通訊。
 
private void button1_Click(object sender, EventArgs e)
        {
            OpenTCP();
        }
        /// <summary>
        /// TCP放在后臺(tái)線(xiàn)程
        /// </summary>
        private void OpenTCP()
        {
            //新建一個(gè)委托線(xiàn)程
            ThreadStart myThreadDelegate = new ThreadStart(Listen);
            //實(shí)例化新線(xiàn)程
            myThread = new Thread(myThreadDelegate);
            myThread.Start();
 
 
        }
        /// <summary>
        /// 創(chuàng)建TCP服務(wù)端并監(jiān)聽(tīng)
        /// </summary>
        public void Listen()//創(chuàng)建tcp服務(wù)端
        {   //設(shè)置端口
            setPort = 59152;
            //初始化SOCKET實(shí)例
            newsock = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
            //允許SOCKET被綁定在已使用的地址上。
            newsock.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
            //初始化終結(jié)點(diǎn)實(shí)例
            localEP = new IPEndPoint(IPAddress.Parse("172.31.1.250"), setPort);
            try
            {
                _sessionTable = new Hashtable(53);
                //綁定
                newsock.Bind(localEP);
                //監(jiān)聽(tīng)
                newsock.Listen(10);
                //開(kāi)始接受連接，異步。=
                newsock.BeginAccept(new AsyncCallback(OnConnectRequest), newsock);
            }
            catch (Exception ex)
            {
 
            }
 
        }
        /// <summary>
        /// 客戶(hù)端連接
        /// </summary>
        /// <param name="ar"></param>
        public void OnConnectRequest(IAsyncResult ar)
        {
            //初始化一個(gè)SOCKET，用于其它客戶(hù)端的連接
 
            server1 = (Socket)ar.AsyncState;
            Client[theIndex] = server1.EndAccept(ar);
            DateTimeOffset now = DateTimeOffset.Now;
            Byte[] byteDateLine = new Byte[65534];
            remote = Client[theIndex].RemoteEndPoint;
            //把連接成功的客戶(hù)端的SOCKET實(shí)例放入哈希表
            _sessionTable.Add(Client[theIndex].RemoteEndPoint, null);
 
            //等待新的客戶(hù)端連接
            theListClient[theIndex, 0] = Client[theIndex].RemoteEndPoint.ToString();
            theListClient[theIndex, 1] = "1";
            server1.BeginAccept(new AsyncCallback(OnConnectRequest), server1);
            theIndex++;
            int myIndex = theIndex - 1;
            while (true)
            {
                try
                {
                    if (theListClient[myIndex, 1] == "0") return;
                    Thread.Sleep(150);
                    int recv = Client[myIndex].Receive(byteDateLine);
 
                    string stringdata = Encoding.UTF8.GetString(byteDateLine, 0, recv);
 
                    string ip = Client[myIndex].RemoteEndPoint.ToString();
 
                    //接受到客戶(hù)端消息
                    if (stringdata != "")
                    {
                        MessageBox.Show(stringdata);
                    }
                    //顯示客戶(hù)端發(fā)送過(guò)來(lái)的信息
 
                }
                catch (Exception ex)
                {
                    //從列表中移除通訊失敗的客戶(hù)端
                    string ip = Client[myIndex].RemoteEndPoint.ToString();
                    _sessionTable.Remove(Client[myIndex].RemoteEndPoint);
                    for (int i = 0; i < 256; i++)
                    {
                        if (Client[myIndex].RemoteEndPoint.ToString() == theListClient[i, 0]) theListClient[i, 1] = "0";
                    }
                    break;
                }
            }
 
        }
通過(guò)按鈕事件，創(chuàng)建后臺(tái)線(xiàn)程用于TCP服務(wù)端，創(chuàng)建服務(wù)端并開(kāi)啟監(jiān)聽(tīng)后，就可以等待機(jī)器人客戶(hù)端發(fā)來(lái)的消息了。
 
 庫(kù)卡機(jī)器人TCP通訊存在三種數(shù)據(jù)發(fā)送格式：固定長(zhǎng)度字節(jié)，任意長(zhǎng)度字節(jié)，和xml格式。個(gè)人感覺(jué)xml格式比較好用，這里介紹xml的通訊。
 
xml的通訊，其實(shí)可以分解為幾個(gè)步驟：
 
機(jī)器人發(fā)送到上位機(jī)：機(jī)器人程序?qū)⒆兞炕蛘邤?shù)值寫(xiě)入xml的元素中→機(jī)器人將xml發(fā)送通過(guò)服務(wù)端發(fā)送到上位機(jī)的服務(wù)端→服務(wù)端接受到數(shù)據(jù)，按照xml的格式解析其中元素。
 
RET=EKI_Init("XmlCallBack")//初始化xml文件
RET=EKI_Open("XmlCallBack")//打開(kāi)（相當(dāng)于客戶(hù)端請(qǐng)求連接）
//將變量或值寫(xiě)入到xml文件的元素中
;FOLD Write data to connection
  ; Write frame to <LastPos X="" Y="" Z="" A="" B="" C="" />
  RET=EKI_SetFrame("XmlCallBack","Robot/Data/LastPos", TOOL_DATA[1])
  ; Write real to <ActPos X="" />
  RET=EKI_SetReal("XmlCallBack","Robot/Data/ActPos/@X", 1000.12)
  ; Write int to <Status></Status>
  RET=EKI_SetInt("XmlCallBack","Robot/Status", 12345678)
  ; Write string to <Mode></Mode>
  RET=EKI_SetString("XmlCallBack","Robot/Mode","ConnectSensor")
  ; Write bool to <LightOn></LightOn>
  RET=EKI_SetBool("XmlCallBack","Robot/RobotLamp/GrenLamp/LightOn",true)
;ENDFOLD (Write data to connection)
//發(fā)送xml到服務(wù)端
RET = EKI_Send("XmlCallBack","Robot")
上位機(jī)服務(wù)端獲取到的數(shù)據(jù)是：
 
<Robot><Data><LastPos X="483.980011" Y="7.210000" Z="239.869995" A="0.000000" B="0.000000" C="0.000000"></LastPos><ActPos X="1000.119995"></ActPos></Data><Status>12345678</Status><Mode>ConnectSensor</Mode><RobotLamp><GrenLamp><LightOn>1</LightOn></GrenLamp></RobotLamp></Robot>
然后對(duì)數(shù)據(jù)進(jìn)行逐個(gè)元素的解析就可以了。要增加變量，只要對(duì)應(yīng)在mxl文件，機(jī)器人程序和上位機(jī)解析過(guò)程中添加就可以了。
 
上位機(jī)發(fā)送到機(jī)器人：上位機(jī)將變量寫(xiě)成xml格式,利用客戶(hù)端發(fā)送到機(jī)器人中的xml文件→機(jī)器人讀取xml文件中的元素值到程序中的變量
 
寫(xiě)成xml格式：
 
sendstr = sendstr + "<Sensor><Status><IsActive>FALSE</IsActive></Status></Sensor>";
sendstr = sendstr + "<Sensor><Read><xyzabc X='10.0' Y='20.0' Z='30.0' A='40.0' B='50.0' C='60.0'></xyzabc></Read</Sensor>";
 
然后是tcp發(fā)送
 
/// <summary>
        /// 將字符串發(fā)送給機(jī)器人
        /// </summary>
        /// <param name="str"></param>
        private void sendToRobot(string str)
        {
            string sendstr;
            str = str.Replace(" ", "");
            string[] fields = str.Split(',');
            string header = "<Sensor>", tail = "</Sensor>";//變量xml文件中的父元素
 
            sendstr = header;
            //設(shè)置xml文件中變量的值，格式：<變量名>變量值</變量名>
            foreach (string item in fields)
            {
                string[] arr = item.Split('=');
                sendstr += "<" + arr[0] + ">" + arr[1] + "</" + arr[0] + ">";
            }
            sendstr += tail;
            //這些變量的某些中間父元素與前面的不同，所以另外寫(xiě)
            sendstr = sendstr + "<Sensor><Status><IsActive>FALSE</IsActive></Status></Sensor>";
            sendstr = sendstr + "<Sensor><Read><xyzabc X='10.0' Y='20.0' Z='30.0' A='40.0' B='50.0' C='60.0'></xyzabc></Read></Sensor>";
            string strDataLine = sendstr;
            try
            {
                Byte[] sendData = Encoding.UTF8.GetBytes(strDataLine);
 
                foreach (DictionaryEntry de in _sessionTable)
                {
                    EndPoint temp = (EndPoint)de.Key;
                    {
                        for (int i = 0; i < theIndex; i++)
                        {
                            if (theListClient[i, 1] == "1")
                            {
                                if (temp.ToString() == theListClient[i, 0])
                                {
                                    try
                                    {
                                        Client[i].SendTo(sendData, temp);
                                    }
                                    catch (Exception ex)
                                    {
                                        
                                    }
                                }
                            }
                        }
                    }
                }
            }
            catch
            { }
        }
等發(fā)送完成之后，機(jī)器人再讀取
 
機(jī)器人從xml元素中讀取值或者屬性并賦予創(chuàng)建的變量
  RET=EKI_GetString("XmlCallBack","Sensor/Message",valueChar[])
  RET=EKI_GetInt("XmlCallBack","Sensor/Nmb",valueInt)
  RET=EKI_GetBool("XmlCallBack","Sensor/Status/IsActive" ,valueBOOL)
  RET=EKI_GetFrame("XmlCallBack","Sensor/Read/xyzabc",valueFrame)
然后就可以在機(jī)器人程序中使用，或者通過(guò)查看變量值檢測(cè)是否正確
 
本例中的xml文件和機(jī)器人程序文件src由ETHERNETKRL軟件中自帶的測(cè)試?yán)有薷亩鴣?lái)。不用原例子的原因是，原例子只有程序文件src而沒(méi)有數(shù)據(jù)文件dat，程序里的變量都是臨時(shí)變量，無(wú)法在示教器上查詢(xún)變量的值。所以新建了一個(gè)程序，將原例子的變量定義放在dat數(shù)據(jù)文件中，處理過(guò)程放在src程序文件中。另外，對(duì)上位機(jī)發(fā)送到機(jī)器人的元素有做一些刪改。
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版權(quán)聲明：本文為CSDN博主「千年de小妖」的原創(chuàng)文章，
原文鏈接：https://blog.csdn.net/qq_29221215/article/details/95759479
在此處聯(lián)系我們或致電186-1656-9600與我們聯(lián)系，以獲取有關(guān)庫(kù)卡機(jī)器人解決方案和快速簡(jiǎn)便的報(bào)價(jià)。
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