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config.yaml
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config.yaml
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version: 2.0
logger:
level: INFO
debug_file: 'debug.log'
format: '%(asctime)-15s %(name)s %(message)s'
krc_rpc:
hostname: 'PCRC-2RL7HHTTRE' # OfficeLite PC's hostname
port: 3333 # must be same as in appsettings.json (listen port KRC-RPC)
authkey: 'TOP_SECRET_KEY' # must be same as in appsettings.json (auth key KRC-RPC)
reconnect_timeout: 30
refresh_time: 0.0
robodk:
robotname: 'KUKA KR 270 R2700 ultra' # Must be same as the robot's name in RoboDK station
CNT: 10 # Also known as: CNT, APO/C_DIS, ZoneData, Blending radius, cornering
speed: 1000 # Set linear speed in mm/s
refresh_time: 0.0
plc:
ip: 192.168.101.1 # PLC SIM ip address
db_num: 1 # DB1 Don't forget to turn off optimezed block access! Settings - attributes
reconnect_timeout: 30
refresh_time: 0.0
data_io:
# Supported variables: Bool, Int, USInt, Real, Char, String
# Use same offsets as in Data Block
rdk_db_in: #RoboDK OUT variables
LifeBit_RDK: [ False, "Bool", 0, 0 ]
#CNC 1
CNC1_Free: [ False, "Bool", 2, 0 ]
CNC1_Busy: [ False, "Bool", 2, 1 ]
CNC1_DoorClosed: [ False, "Bool", 2, 2 ]
CNC1_DoorOpened: [ False, "Bool", 2, 3 ]
CNC1_OUT_Reserve: [ False, "Bool", 2, 4 ]
#CNC 2
CNC2_Free: [ False, "Bool", 4, 0 ]
CNC2_Busy: [ False, "Bool", 4, 1 ]
CNC2_DoorClosed: [ False, "Bool", 4, 2 ]
CNC2_DoorOpened: [ False, "Bool", 4, 3 ]
CNC2_OUT_Reserve: [ False, "Bool", 4, 4 ]
rdk_db_out: #RoboDK IN variables
LifeBit_PLC: [ False, "Bool", 6, 0 ]
#CNC 1
CNC1_OpenDoor: [ False, "Bool", 8, 0 ]
CNC1_CloseDoor: [ False, "Bool", 8, 1 ]
CNC1_Start: [ False, "Bool", 8, 2 ]
CNC1_Stop: [ False, "Bool", 8, 3 ]
CNC1_IN_Reserve: [ False, "Bool", 8, 4 ]
#CNC 2
CNC2_OpenDoor: [ False, "Bool", 10, 0 ]
CNC2_CloseDoor: [ False, "Bool", 10, 1 ]
CNC2_Start: [ False, "Bool", 10, 2 ]
CNC2_Stop: [ False, "Bool", 10, 3 ]
CNC2_IN_Reserve: [ False, "Bool", 10, 4 ]
kuka_db_out: #KUKA IN variables
DEF_ADVANCE: [ 0, "UInt", 12, 0 ]
kuka_db_in: #KUKA OUT variables
$ACT_BASE: [0, "USInt", 14, 0]