System.Messages¶
Programming messages in KRL.
Enum Types¶
EKrlMsgType¶
Message types
| Name | Type |
|---|---|
EKrlMsgType |
ENUM |
| Value | Description |
|---|---|
#NOTIFY |
Notification message |
#STATE |
Status message |
#QUIT |
Acknowledgment message |
#WAITING |
Wait message |
#DIALOG |
End of program reached |
KrlMsgParType_T¶
Message parameter types
| Name | Type |
|---|---|
KrlMsgParType_T |
ENUM |
| Value | Description |
|---|---|
#VALUE |
The parameter is inserted into the message text as specified in text, int, real or bool. |
#KEY |
The parameter is a key that must be searched for in the message database. |
#EMPTY |
The parameter is empty. |
MsgBufMsgType_T¶
Message parameter types
| Name | Type |
|---|---|
MsgBufMsgType_T |
ENUM |
| Value | Description |
|---|---|
#SYS_QUIT |
Acknowledgement messages from the kernel system |
#SYS_STATE |
Status messages from the kernel system |
#USR_QUIT |
User-defined acknowledgement messages |
#USR_WAIT |
User-defined wait messages |
#USR_STATE |
User-defined status messages |
#USR_DLG |
User-defined dialog messages |
Struc Types¶
KrlMsg_T¶
Message data structure
| Name | Type |
|---|---|
KrlMsg_T
| STRUC
|
| Field | Type | Description |
|---|---|---|
Modul[] |
CHAR[24]
|
Originator displayed in the message window. |
Nr |
INT
|
Message number. Message numbers may be used more than once. |
Msg_Txt[] |
CHAR[80]
|
Message text (or key for a message database). |
KrlMsgDlgSK_T¶
Softkey data structure for dialog message
| Name | Type |
|---|---|
KrlMsgDlgSK_T
| STRUC
|
| Field | Type | Description |
|---|---|---|
Sk_Type |
KrlMsgParType_T
|
The type of the softkey. |
Sk_Txt |
CHAR[10]
|
Label of the softkey (or key for a message database). |
KrlMsgOpt_T¶
Message options data structure
| Name | Type |
|---|---|
KrlMsgOpt_T
| STRUC
|
| Field | Type | Description |
|---|---|---|
Vl_Stop |
BOOL
|
If true Set_KrlMsg() or Set_KrlDlg() trigger an ADVANCE run stop.
Default to true. |
Clear_P_Reset |
BOOL
|
If true delete messages when the program is reset or deselected.
In that case, all status messages, acknowledgement messages and wait messages generated by Set_KrlMsg() with the variable options are deleted.
Notification messages can only be deleted using the softkeys Ackn. and Ackn. All.
For dialog messages |
Clear_P_Saw |
BOOL
|
Delete message when a block selection is carried out using the softkey Line Sel.
If true all status messages, acknowledgement messages and wait messages generated by Set_KrlMsg() with the variable options are deleted.
Default to false.
Notification messages can only be deleted using the softkeys Ackn. and Ackn. All. For dialog messages no block selection is possible while a dialog is present on the KUKA.HMI, as all operator control elements are deactivated. |
Log_To_DB |
BOOL
|
If true the message is logged. Default to false. |
KrlMsgPar_T¶
Message parameter data structure
| Name | Type |
|---|---|
KrlMsgPar_T
| STRUC
|
| Field | Type | Description |
|---|---|---|
Par_Type |
KrlMsgParType_T
|
Type of parameter. |
Par_Txt[] |
CHAR[26]
|
Text of the parameter (or key for a message database). |
Par_Int |
INT
|
This can be used to fill the placeholder with an integer value. It can only be used in conjunction with type=#value. |
Par_Real |
REAL
|
This can be used to fill the placeholder with a real value. It can only be used in conjunction with type=#value. |
Par_Bool |
BOOL
|
This can be used to fill the placeholder with a Boolean value. It can only be used in conjunction with type=#value. |
MsgBuf_T¶
Message buffer data structure
| Name | Type |
|---|---|
MsgBuf_T
| STRUC
|
| Field | Type | Description |
|---|---|---|
Type |
MsgBufMsgType_T
|
Message type. |
Nr |
INT
|
Message number. |
Modul[] |
CHAR[24]
|
Represents the originator of the message.
Only initialized for messages of type #usr_..., because with type #sys_... the parameter is usually a database key that cannot be used by the user. |
Msg_Txt[] |
CHAR[80]
|
Message text or message database key.
Only initialized for messages of type #usr_..., because with type #sys_... the parameter is usually a database key that cannot be used by the user. |
Par_Type1 |
KrlMsgParType_T
|
Parameter type. |
Par_Txt1[] |
CHAR[40]
|
Text or database key of the parameter. |
Par_Type2 |
KrlMsgParType_T
|
Parameter type. |
Par_Txt2[] |
CHAR[40]
|
Text or database key of the parameter. |
Par_Type2 |
KrlMsgParType_T
|
Parameter type. |
Par_Txt2[] |
CHAR[40]
|
Text or database key of the parameter. |
Handle |
INT
|
internal handle for this message (only initialized for user-defined messages). |
Comments
...
Notes
Array of buffer elements containing all the messages in the buffer.
The array is filled in ascending order, without gaps, starting with Index = 1.
If there are fewer messages in the buffer than represented by the size of the array, these array elements are not initialized.
Functions¶
Clear_KrlMsg¶
Delete a a specific message.
Parameters
| Parameter | Type | Value/Ref | Description |
|---|---|---|---|
handle |
INT
|
IN |
The handle of the message to delete. This handle is returned by the function Set_KrlMsg(). |
Return
| Type | Description |
|---|---|
BOOL |
|
Comments
...
Notes
The function Clear_KrlMsg() can be used to delete a message.
This means that the message is removed from the message buffer and the message window.
Notification messages cannot be deleted in this way, as they are not managed in the message buffer. Notification messages can only be deleted via the KUKA.HMI using the softkeys Ackn. and Ackn. All.
-1: all messages initiated by this process are deleted.-99: all user-defined messages are deleted (for all processes:ROBOT,SUBMITandCOMMANDinterpreters).
Exists_KrlDlg¶
Checks whether a specific dialog message still exists.
Parameters
| Parameter | Type | Value/Ref | Description |
|---|---|---|---|
handle |
INT
|
IN |
The handle provided for the dialog message by the function Set_KrlDlg(). |
answer |
INT
|
OUT |
Number 1..7 of the softkey used to answer the dialog. 0 if the dialog was deleted before answering. |
Return
| Type | Description |
|---|---|
BOOL |
|
Comments
...
Notes
The function Exists_KrlDlg() can be used to check whether a specific dialog still exists.
It also checks whether this dialog is still present in the message buffer.
The function does not wait until the dialog has been deleted, but merely searches the buffer for the dialog with this handle. The KRL program must therefore be polled cyclically until the dialog has been answered or deleted.
Returns
1..7: answer with the corresponding softkey.0: the dialog has not been answered,but deleted (e.g. the dialog has been deleted by means ofClear_KrlMsg()by an interrupt or by a different process).
Exists_KrlMsg¶
Checks whether a specific message still exists.
Parameters
| Parameter | Type | Value/Ref | Description |
|---|---|---|---|
handle |
INT
|
IN |
The handle provided for the message by the function Set_KrlMsg(). |
Return
| Type | Description |
|---|---|
BOOL |
Returns true if the message still exists in the message buffer. |
Comments
...
Notes
The function Exists_KrlMsg() can be used to check whether a specific message still exists.
It also checks whether this message is still present in the message buffer.
This means that the message is transferred to the message buffer and displayed from there in the message window.
The function does not wait until the message has been deleted, but merely searches the buffer for the message with this handle. The KRL program must therefore be polled cyclically until the message has been deleted.
Notification messages cannot be checked, as they are not managed in the message buffer.
Get_MsgBuffer¶
Copy the content of the message buffer.
Parameters
| Parameter | Type | Value/Ref | Description |
|---|---|---|---|
msgBuf[] |
MsgBuf_T[100]
|
OUT |
Array of buffer elements containing all the messages in the buffer |
Return
| Type | Description |
|---|---|
INT |
Returns the number of messages in the message buffer. |
Comments
...
Notes
The function Get_MsgBuffer() reads the message buffer and writes the messages in the buffer to the OUT parameter msgBuff[].
The size of the buffer is 100.
Get_MsgBuffer() can read the following message types from the buffer :
- Status messages from the kernel system (#sys_state)
- Acknowledgement messages from the kernel system (#sys_quit)
- User-defined status messages (#usr_state)
- User-defined acknowledgement messages (#usr_quit)
- User-defined dialog messages (#usr_dlg)
- User-defined wait messages (#usr_wait)
Set_KrlDlg¶
Generates a dialog message.
Parameters
| Parameter | Type | Value/Ref | Description |
|---|---|---|---|
msg |
KrlMsg_T
|
OUT |
Structure defining the name, originator and message text. |
params |
KrlMsgPar_T
|
OUT |
Structure containing the message parameters. |
softkey |
KrlMsgDlgSK_T
|
OUT |
Structure containing the softkey assignment. |
options |
KrlMsgOpt_T
|
OUT |
Structure containing the message reaction. |
Return
| Type | Description |
|---|---|
INT |
Returns a handle to the generated dialog message.
|
Comments
...
Notes
The function Set_KrlDlg() generates a dialog message.
This means that the message is transferred to the message buffer and displayed from there in the message window.
The function merely generates the dialog. It does not wait until the dialog has been answered. A dialog cannot be generated until no other dialog is active.
Set_KrlMsg¶
Generate a message.
Parameters
| Parameter | Type | Value/Ref | Description |
|---|---|---|---|
type |
EKrlMsgType
|
IN |
Defines the type of the message to be generated (#notify, #state, #quit, #waiting). |
msg |
KrlMsg_T
|
OUT |
Structure defining the name, originator and message text |
params |
KrlMsgPar_T
|
OUT |
Structure containing the message parameters |
options |
KrlMsgOpt_T
|
OUT |
Structure containing the message reaction |
Return
| Type | Description |
|---|---|
INT |
Returns a handle to the generated message. handle > 0 on success, handle = -1on failure. |
Comments
...
Notes
The function Set_KrlMsg() generates a message. This means that the message is transferred to the message buffer and displayed from there in the message window.
Return
-1: The message could not be generated (e.g.because the message buffer is too full).>0: The message was generated successfully.
The return value is a valid handle that can be used for further operations for this message, e.g. for deleting the message with Clear_KrlMsg().
No handle is required for notification messages.
Exceptions
- Notification messages are displayed in the message window by means of Set_KrlMsg(). They are not managed in the message buffer, however (“fire and forget” principle).
- To generate dialog messages, the function Set_KrlDlg() must be used.