Comunicación TCP Keyence#KV8000
En esta ocasión implementaremos la comunicación por sockets, donde el cliente es KV8000, y también
construiremos un servidor de ejemplo en Python.
¡Comencemos!
¿Qué es un enchufe?
En pocas palabras, un socket es una combinación de una dirección IP y un número de puerto: la dirección
IP identifica el terminal que se comunica y el número de puerto identifica el servicio que utiliza dicho
terminal.
El protocolo TCP es precisamente esa conexión entre una dirección IP y un número de puerto. Los datos se
envían y reciben a través de una ruta que se establece inicialmente y se basa en dicha conexión.
Con el protocolo UDP, el destino se especifica mediante una combinación de dirección IP y número de
puerto, y se envían y reciben datos. Sin embargo, a diferencia de TCP, no se establece ninguna conexión
inicial con el destino.
¿Comunicación mediante socket KV?
La comunicación mediante sockets KV es una función que permite enviar y recibir datos arbitrarios desde y
hacia dispositivos a través de Ethernet, utilizando los protocolos TCP/IP o UDP/IP. Puede comunicarse con
una variedad de dispositivos compatibles, así como con ordenadores y estaciones de trabajo.
Además, se pueden enviar y recibir datos entre la unidad CPU y el otro dispositivo utilizando memoria
intermedia y relés configurados para la comunicación por sockets y el ensamblaje de programas.
Comunicación basada en TCP (no procedimental)
Debido al control de flujo en la transmisión y recepción de datos basada en TCP/IP, la longitud de los datos
recibidos puede diferir de la longitud enviada por el programa transmisor. En este caso, la longitud de los
datos a enviar debe ser controlada por el programa receptor.
En el caso de TCP (sin procedimiento), la longitud de datos realmente recibida por el KV-8000/7500 se
almacena en la memoria búfer “Longitud de datos recibidos (resultado)”.
Relevos
La dirección principal del relé es = n + 4000 + (Número de zócalo KV * 100)
n= es el ajuste del número principal del relé.
Por ejemplo, digamos que uso el Socket 0 y el número del relé principal es R3000.
La dirección principal del relé que se utilizará en el programa es:
30000+4000(0*100)=R34000.
Fluir
TCP Activo Abierto
Este es el diagrama de flujo de TCP Active Open utilizado en este artículo. Supongamos que el relé principal
es R30000 y el socket es 0.
1. Utilice U_SOPEN para escribir la IP y otra información.
2. R34002(n+4002) es verdadero.
3. R36002(n+6002) Completar respuestas de la bandera.
4. R34002(n+4002) es falso.
Se ha establecido la conexión y, si R36003(n+6003) es verdadero, se trata de un error de conexión que debe
gestionarse. Si se produce un error de conexión, puede obtener información detallada sobre el error
mediante la función U_SSTAT.
Envío TCP
Aquí se muestra el flujo de salida activo TCP utilizado en este artículo. Supongamos que el relé principal es
R30000 y el socket es 0.
1. U_SWRBUF se utiliza para enviar datos y otra información.
2. R34006(n+4006)La solicitud de envío es verdadera.
3. R36006(n+6006)Respuestas completas de la bandera.
4. Falso R34006(n+4006).
That completes the transmission. If R36007(n+6007) is True, a Connection Error has occurred and you
should handle the error. If a connection error occurs, detailed error information can be obtained using the
U_SSTAT function.
TCP Receive
Here is the incoming Flow for TCP Active used in this article. Let us assume that the Leading Relay is
R30000 and the Socket is 0.
1. Writes Server receive data and other information using SRDBUF.
2. R34008(n+4008)Receive request is True.
3. R36010(n+6010)Flag reply with Receive is returned.
4. R36008(n+6010)Complete Flag is answered.
5. R34006(n+4006)False.
That completes the transmission. If R36009(n+6009) is True, then a Connection error has occurred and the
error should be handled. If a connection error occurs, detailed error information can be obtained using the
U_SSTAT function.
TCP Close
Here is the Connection Close Flow of TCP Active used in this article. Here, we assume that the Leading
Relay is R30000 and the Socket is 0.
1. R34012(n+4012)Close request is True
2. R36012(n+6012)Complete Flag being answered
3. R36013(n+6013)Connection Open Flag becomes False
4. R34012(n+4012) False.
Function
The following are the functions used in this article.
U_SOPEN
This function transfers the connection parameters of Connection to Buffer Memory.
Format
U_SOPEN ([EN,] Unit, Socket, Setting)
Argument
Parameter Name Description
EN True=Execute function
Unit Specify Unit number. 0=Port of KV8000 main unit
Socket Specifies the KV Socket number. 0-15 can be set.
Setting KV Socket Setup Data
Settings Mapping
Memeory Buffer Memory Description
Setting+0 ＃25000+Socket番号x1500 Local Port of KV8000
Setting+1 ＃25001+Socket番号x1500 IP address of the connection destination Byte1
Setting+2 ＃25002+Socket番号x1500 IP address of the connection destination Byte2
Setting+3 ＃25003+Socket番号x1500 IP address of the connection destination Byte3
Setting+4 ＃25004+Socket番号x1500 IP address of the connection destination Byte4
Setting+5 ＃25005+Socket番号x1500 Port number that connect to
Setting+6 ＃25006+Socket番号x1500 TimeOut(ms)
Setting+7 ＃25007+Socket番号x1500 UDP Flag,1=UDP
U_SWRBUF
This function sends the data to be sent to the appropriate Connection to Buffer Memory.
Format
U_SOPEN ([EN,] Unit, Socket, SendData)
Argument
Parameter Name Description
EN True=Execute function
Unit Specify Unit number. 0=Port of KV8000 main unit
Socket Specifies the KV Socket number. 0-15 can be set.
SendData Data to be sent (number of Bytes)
Settings Mapping
Memeory Buffer Memory Description
SendData+0 ＃25009+Socket番号x1500 Length of data to be sent (Byte)
SendData+1 ＃25010+Socket番号x1500 Transmission data (Byte0,1)
SendData+2 ＃25011+Socket番号x1500 Transmission data (Byte2,3)
SendData+3 ＃25012+Socket番号x1500 Transmission data (Byte4,5)
Etc.. Etc.. Etc..
U_SRDBUF
This function transfers the data to be received in the corresponding Connection from Buffer Memory to the
program device.
Format
U_SRDBUF([EN,] Unit, Socket, Dst)
Argument
Parameter Name Description
EN True=Execute function
Unit Specify Unit number. 0=Port of KV8000 main unit
Socket Specifies the KV Socket number. 0-15 can be set.
Dst Destination of data to be received (Bytes)
Settings Mapping
Memeory Buffer Memory Description
Dst+0 #25759+Socket Numberx1500 Length of received data (Byte)
Dst+1 #25760+Socket Numberx1500 Received data (Byte0,1)
Dst+2 #25761+Socket Numberx1500 Received data (Byte2,3)
Dst+3 #25762+Socket Numberx1500 Received data (Byte4,5)
Etc.. Etc.. Etc..
U_SSTAT
Function to get the Status of the corresponding Connection.
Format
U_SOPEN ([EN,] Unit, Socket, Dst)
Argument
Parameter Name Description
EN True=Execute function
Unit Specify Unit number. 0=Port of KV8000 main unit
Socket Specifies the KV Socket number. 0-15 can be set.
Dst Destination of data to be received (Bytes)
Settings Mapping
Memeory Buffer Memory Description
Dst+0 ＃25748+Socket Numberx1500 state of connectivity
Dst+1 ＃25749+Socket Numberx1500 IP address(Bye1)
Dst+2 ＃25750+Socket Numberx1500 IP address(Bye2)
Dst+3 ＃25751+Socket Numberx1500 IP address(Bye3)
Dst+4 ＃25752+Socket Numberx1500 IP address(Bye4)
Dst+5 ＃25753+Socket Numberx1500 Port to connect to
Dst+6 ＃25754+Socket Numberx1500 Connection Open State
Dst+7 ＃25755+Socket Numberx1500 transmission state
Dst+8 ＃25756+Socket Numberx1500 Response state
Dst+9 ＃25757+Socket Numberx1500 Reception state
Dst+10 ＃25758+Socket Numberx1500 Connection Close state
Dst+11 ＃25759+Socket Numberx1500 Received data length
Status
自分は基本的に0,4見ればよいだと思います。
Code Description
0 CLOSED,Connection is closing
1 LISTEN,Connection is available
2 SYS SENT,Active Open in operation, SYN sent
3 SYS RCVD,SYN received from Server
4 ESTABLISHED,Connection has been established.
5 CLOSE WAIT,FIN received.
6 FIN WAIT1Sent by FIN
7 FIN WAIT2,1,FIN received.
8 CLOSING,FIN is received and Connection is in Close
9 LAST AKC,FIN received and FIN also sent.
Implmentation
Here is the implementation.
Keyence Side
Configuration
Start KV Studio and open the Unit Editor.
Socket Function
Enable the function by setting Function>Socket function to Used.
Leading relay No
Leading relay No.Default is R3000, that is, Connection control and Status data start from R3000.
IP address
IP address should also be set according to the application.
Socketx Setting
Socket0 to Socket15 can be configured.
Kv Socket is set to TCP (Non-procedure) TCP No-Procedure.
H->L sets whether Byte is Swap or not.
Program
The next step is to create the program.
DUT
DUT_U_SSTAT_TCPStatus
This structure is to clarify the Connections Status of the function U_SSTAT.
Closed BOOL
Listen BOOL
SynSent BOOL
SynRCVD BOOL
Established BOOL
CloseWait BOOL
FinWait1 BOOL
FinWait2 BOOL
Closing BOOL
LastAck BOOL
Variable
Global
Global variable Socket0 substitutes the required Request and Response into the variable instead of the
absolute address.
gbTcp0ActiveOpenReq BOOL R34002
gbTcp0ActiveOpenComp BOOL R36002
gbTcp0ActiveOpenFail BOOL R36003
gbSocket0SendReq BOOL R34006
gbSocket0SendComp BOOL R36006
gbSocket0SendFail BOOL R36007
gbSocket0ReceveData BOOL R36010
gbSocket0ReceveInCorrect BOOL R36011
gbSocket0ReceveReq BOOL R34008
gbSockte0ReceveEnd BOOL R36008
gbSocket0CloseReq BOOL R34012
gbSocket0ReceveFail BOOL R36009
Local
Local variables define the devices that control the communication program, such as Unit number and
Socket number.
wUnitNo INT
wstextLen UINT
wSomeValue UINT
wKVSocketNo INT
stSocket0Status DUT_U_SSTAT_TCPStatus
stext STRING[255]
sSomeText STRING[10]
iStep UINT
iCounter UINT
bStart BOOL
bReset BOOL
bError BOOL
arrControlData ARRAY[0..7] OF UINT
Main
Configure your Sending Data
A random integer is converted to a string and sent to the Python Server with the last part of “Hello from
Keyence KV8000! This way, you can always check if the data has actually been sent.
Also, since the number of converted strings is no longer a constant due to the current value of the integer,
the LEN() function is used to obtain the length of the string.
wSomeValue:=wSomeValue+1;
stext:=’Hello from Keyence KV8000!’;
sSomeText:=STR(wSomeValue);
stext:=CONCAT(stext,sSomeText);
wstextLen:=LEN(stext);
Move to DM
Since absolute addresses are inevitably easier to handle in Keyence functions, the SMOV function is used to
send DM101 by batch transfer of the string that was just set. (DM100 is the place to store the size of the
transmission.)
Get Connection Status
Obtains the status of Socket 0 in 100ms Cycle using CR2004.
U_SSTAT(
EN:=CR2004
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,Dst:=DM10
);
stSocket0Status.Closed:=DM10 =0;
stSocket0Status.Listen:=DM10 =1;
stSocket0Status.SynSent:=DM10 =2;
stSocket0Status.SynRCVD:=DM10 =3;
stSocket0Status.Established:=DM10 =4;
stSocket0Status.CloseWait:=DM10 =5;
stSocket0Status.FinWait1:=DM10 =6;
stSocket0Status.FinWait2:=DM10=7;
stSocket0Status.Closing:=DM10=8;
stSocket0Status.LastAck:=DM10=9;
Socket Communication
This is the Main section and use devices bstart to start the program.
Step10
Set the parameters of Connection, clear the receive Buffer, and reset to the state where each function
is not executed.
Step20
U_SOPEN and transfer the Connection parameter to Buffer Memory. gbTcp0ActiveOpenReq is set to
True to start connection with Python Server and when gbTcp0ActiveOpenComp Flag is set to True, go
to next Step.
Step30
If there is an error, go to 999. If there is no problem, go to the next step.
Step40
Reset gbTcp0ActiveOpenReq, transfer data to be sent to Buffer Memory using the U_SWRBUF
function, set gbSocket0SendReq to True, and send data to Python Server. gbSocket0SendComp
becomes True, it indicates that the transmission is complete, so proceed to the next Step.
Step50
If there is an error, go to 999. If there is no problem, go to the next step.
Step60
Resets the receive Buffer.
Step70
Transfer the destination of data received from the Python Server to Buffer Memory using the
U_SRDBUF function. gbSocket0ReceiveReq is set to True to start receiving. gbSockte0ReceiveEnd
becomes True to indicate that receiving is complete. Proceed to the next Step.
Step80
If there is an error, go to 999. If there is no problem, go to the next step.
Step90
Delay Step until the next transmission operation.
Step999
This is the Step of error handling.
if bStart and iStep =0 then
iStep:=10;
bStart:=FALSE;
end_if;
CASE iStep of
10: //Init the data
//Control Data
arrControlData[0]:=9000; //local port
arrControlData[1]:=192; //Server ip byte1
arrControlData[2]:=168; //Server ip byte2
arrControlData[3]:=1; //Server ip byte3
arrControlData[4]:=194; //Server ip byte4
arrControlData[5]:=5000; //Server Port
arrControlData[6]:=1000; //Timeout
arrControlData[7]:=0; //UDP Flag
//Receive Data Buffer
FMOV(0,DM1000,100);
//Function Block
U_SRDBUF(
en:=False
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,Dst:=DM1000
);
U_SWRBUF(
EN:=False
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,SendData:=DM100
);
U_SOPEN(EN:=False
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,Setting:=arrControlData
);
U_SSTAT(
EN:=False
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,Dst:=DM10
);
iStep:=20;
20://TCP Open Req
gbTcp0ActiveOpenReq:=True;
U_SOPEN(
EN:=True
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,Setting:=arrControlData
);
if gbTcp0ActiveOpenComp then
iStep:=30;
end_if;
30://Check TCP Open Status
if gbTcp0ActiveOpenFail then
iStep:=999;
ELSE
iStep:=40;
end_if;
40://TCP Send Data
gbTcp0ActiveOpenReq:=False;
DM100:=wstextLen;
U_SWRBUF(EN:=True
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,SendData:=DM100
);
gbSocket0SendReq:=True;
if gbSocket0SendComp then
iStep:=50;
U_SWRBUF(EN:=False
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,SendData:=DM100
);
gbSocket0SendReq:=False;
end_if;
50://Check TCP Send Status
if gbSocket0SendFail then
iStep:=999;
else
iStep:=60;
gbSocket0SendReq:=False;
end_if;
60: //Rset the Receive Buffer
FMOV(0,DM1000,100);
iStep:=70;
70://TCP Receive Data
U_SRDBUF(
en:=true
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,Dst:=DM1000
);
gbSocket0ReceveReq:=True;
if gbSockte0ReceveEnd or not stSocket0Status.Established then
U_SRDBUF(
en:=False
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,Dst:=DM1000
);
gbSocket0ReceveReq:=false;
iStep:=80;
end_if;
80://Check Receive Status
if gbSocket0ReceveInCorrect or gbSocket0ReceveFail then
iStep:=999;
else
iStep:=90;
iCounter:=0;
end_if;
90://10ms Pulse,Step Back Delay
if CR2004 then
iCounter:=iCounter+1;
end_if;
if iCounter>=600 THEN
iStep:=40;
iCounter:=0;
end_if;
999://Error,Wait Reset
bError:=True;
bReset:=True;//Auto Reset
U_SRDBUF(
en:=False
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,Dst:=DM1000
);
U_SWRBUF(
EN:=False
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,SendData:=DM100
);
U_SOPEN(EN:=FALSE
,Unit:=wUnitNo
,Socket:=wKVSocketNo
,Setting:=arrControlData
);
if CR2004 and bReset then
iCounter:=iCounter+1;
end_if;
gbSocket0CloseReq:=True;
gbSocket0ReceveReq:=False;
gbTcp0ActiveOpenReq:=False;
gbSocket0SendReq:=False;
if iCounter>=600 then
gbSocket0CloseReq:=False;
iStep:=10;
bError:=False;
bReset:=False;
iCounter:=0;
end_if;
END_CASE;
Python Side
This is the Python side implementation.
import socket
HOST = ‘192.168.1.194’
PORT = 12344
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
s.bind((HOST, PORT))
s.listen()
conn, addr = s.accept()
with conn:
print(f’Connected by {addr}’)
while True:
data = conn.recv(1024)
if not data:
break
print(‘data from client:’.encode()+data)
conn.sendall(data+’,Data back from Server’.encode())
Implementation-2
The following is a brief overview of how to implement common GET requests that use the REST API.
Keyence Side
Just force the first place where you set up the string to write all the necessary contents for a GET request.
stext:=’GET /mydata HTTP/1.1$R$LHost: $R$LUSER-Agent: Keyence$R$LAccept: text/html$R$LAccept-
Encoding: identity$R$LAccept-Charset: utf-8$R$L$R$L’;
wstextLen:=LEN(stext);
Python Side
from flask import Flask
app=Flask(__name__)
@app.route(‘/’)
def hello_world():
return “hello”
@app.route(‘/mydata’)
def get_data():
return “data-1-2-3-4”,200
if __name__==’__main__’:
app.run(host=”192.168.1.194″)
Result
Download Source Project
Download the Sample Project from Github.
https://github.com/soup01Threes/Keyence/blob/main/SocketTest_Get_Finally.7z
(https://github.com/soup01Threes/Keyence/blob/main/SocketTest_Get_Finally.7z)
gomamenotes (http://soup01.com/en/author/gomamenotes/)
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the-ecat-module/)
In this article, the newly released ECAT module from DELTA Motion is ...
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module/)
Beckhoff#Play with
EK9160 Iot Coupler
(http://soup01.com/en
(http://soup01.com/en/2022/03/18/beckhoffplay-with-ek9160-iot-coupler-2/)/2022/03/18/beckhoff
play-with-ek9160-iot-
coupler-2/)
EK9160 is a device that provides a solution for non-programming Iot A...
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RoboDK#Start
Program from
TwinCAT By
(http://soup01.com/en/2022/02/25/robodkstart-program-from-twincat-by-opcua/)
OPCUA (http://soup01.com/en/2022/02/25/robodkstart-program-from-
twincat-by-opcua/)
Hello and I will explain how to create a OPCUA Client in RoboDK and c...
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opcua/)
(http://soup01.com/en/2024/07/25/keyencegc-1000-part5_lets-use-modbus-tcp-with-beckhoff-twincat3-
tf6250-and-gc1000/)
Keyence#GC-1000 Part5_Let’s use Modbus TCP with Beckhoff
TwinCAT3 TF6250 and GC1000
(http://soup01.com/en/2024/07/25/keyencegc-1000-part5_lets-use-
modbus-tcp-with-beckhoff-twincat3-tf6250-and-gc1000/)
This is the fifth episode of the Keyence Safety Controller Tutorial. ...
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tcp-with-beckhoff-twincat3-tf6250-and-gc1000/)
Beckhoff#TwinCAT3 Integrate with Murrelektronik EtherCAT IO‐Link Master
(http://soup01.com/en/2023/09/26/post-9274/)
PLCNEXT#Let's Use OPC UA Client Function to Connect Beckhoff TF6100 and Siemens OPC UA
Server (http://soup01.com/en/2023/10/05/plcnextlets-use-opc-ua-client-function-to-connect-
beckhoff-tf6100-and-siemens-opc-ua-server/)
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