Getting Started

Connecting

To get startet you first need to connect to the applicalbe web sockets. This API currently provides functionality to connect to the command and subscribe web socket respectively.

import keapi as ka
cmdserver = ka.connect_commands('ws://IP:PORT/ROBOT/websocket-command')
subserver = ka.connect_subscriber('ws://IP:PORT/ROBOT/websocket-subscribe')

Commands

After connecting you are all set to send your first command. To see a full list of available commands please consult the API reference provided by KEBA.

There are two ways to send a command:

• exec: Sends a command and waits for it’s result

• start: Sends a command and returns a Ticket

cmdserver.exec('set_active_client')

pos = {
    'joints': {
        'main_joints': [0, 0, 120, 0, 0, 0]
    }
}
ticket = cmdserver.start('path_ptp', position=pos)
ticket.wait()

Variables

Note: This feature is not yet supported in RobotControl WebAPI 0.2.1-beta.1

To get and set variables on the PLC you need the full path of the variable and an active connection to the command web socket.

var = ka.get_variable(cmdserver, 'APPL.Application._IoMapping', 'do_0')
ka.set_variable(cmdserver, 'APPL.Application._IoMapping', 'do_0', True)

You can also create a variable group. This is a convenience function so you don’t have to write the full variable path every time.

getio = ka.create_variable_getter(cmdserver, 'APPL.Application._IoMapping')
do = getio('do_0')

setio = ka.create_variable_setter(cmdserver, 'APPL.Application._IoMapping')
setio('do_0', True)

Subscription

To subscribe to a topic you need to have a callback function which will be called once the subscribed topic returns an answer.

def callback(msg):
    print(msg)

def some_other_func():
    subserver.subscribe('robot_status', callback, 0.1)
    # Do stuff
    subserver.unsubscribe('robot_status', callback)