Socket communication error

Robot Controller IRC5
1

Hello everybody,

I’m currently trying to estabish a socket communcation between an ABB IRB1200 Robot and a 3D Camera from Solomon. The controller has the PC-Interface package installed, the robot IP is 192.168.0.6 and the PC has the IP 192.168.0.2 and the declared port 10000. I can succesfully create the Socket but when it reaches the SocketConnect command it idles there until the timeout error occures. I was wondering if you have any ideas for this problem. Thank you very much!

!Creating socket and verifying

SocketCreate SocketSolomon;

IF (SocketGetStatus(SocketSolomon)=SOCKET_CLOSED) THEN

TPWrite “Socket failed to create!”;

SocketFails:=SocketFails+1;

GOTO VisionInit;

ELSE

TPWrite “Socket created successfully!”;

ENDIF

!Connecting socket and verifying

SocketConnect SocketSolomon,“192.168.0.2”,10000;

IF (SocketGetStatus(SocketSolomon)<>SOCKET_CONNECTED) THEN

TPWrite “Failed to Connect!”;

SocketFails:=SocketFails+1;

SocketClose SocketSolomon;

GOTO VisionInit;

ELSE

TPWrite “Socket connected successfully!”;

ENDIF


2

Hi …
There is a time for creation, connection and data exchange, in addition there is a number of sockets and connections that are allowed, so try not to create/connect too many sockets.
I believe you are not giving enough time for the commands to complete.
Try the solution to see what appears as a response.

PROC ConnectServerSocket(string addressP,num portP)
        ! ## ATTRIBUTES ############################################# ##############################
        VAR socketdev mySocketL;
        ! ## ATTRIBUTES ############################################# ##############################

        ! Creates a connection via socket if there is no connection created with the PLC for data exchange ...
        IF SocketGetStatus(mySocketL)<>SOCKET_CREATED THEN
            SocketCreate mySocketL;
        ENDIF
        IF SocketGetStatus(mySocketL)=SOCKET_CREATED THEN
            SocketConnect mySocketL,addressP,portP\Time:=1;

            IF SocketGetStatus(mySocketL)=SOCKET_CONNECTED THEN
                ! CODE ....
            ENDIF
        ENDIF

        ! At the end of the routine, close the connection with the PLC to avoid creating an unnecessary socket when executing the routine again ...
        SocketClose mySocketL;

        RETURN ;
    ERROR
        ! ####################                ##################### !
        ! #################### Handling error ################### !
        ! ####################                #################### !

        TEST ERRNO
        CASE ERR_SOCK_TIMEOUT:
            ErrWrite "ERR_SOCK_TIMEOUT","";
        CASE ERR_SOCK_CLOSED:
            ErrWrite "ERR_SOCK_CLOSED","";
        DEFAULT:
            TPWrite "??? ERRNO ???";
        ENDTEST

        ! Testando o status do socket para definir ações a serem tomadas ...
        TEST SocketGetStatus(mySocketL)
        CASE SOCKET_CREATED:
            TPWrite "SocketCreate";
        CASE SOCKET_CLOSED:
            TPWrite "SocketClose";
        CASE SOCKET_BOUND:
            TPWrite "SocketBind";
        CASE SOCKET_LISTENING:
            TPWrite "Instruction SocketListen or SocketAccept has been executed";
        CASE SOCKET_CONNECTED:
            TPWrite "SocketConnect, SocketReceive or SocketSend";
        DEFAULT:
            TPWrite "??? SocketGetStatus ???";
        ENDTEST

        RETURN ;
    ENDPROC

Good Job.