keapi-robotics 1.0.0b3

A API to communicate with a KEBA PLC via WebSockets

KeApi

KeApi is a Python package for communicating and sending commands to your KEBA PLC via Web Sockets.

Note: This package is not affiliated with KEBA AG

Who is this package for?

If you have a KEBA PLC and want to send commands to it or monitor the state of it.

Requirements

RobotControl WebAPI 0.2.1-beta.1
RobotControl API 0.2.1-beta.6
Communication Utils Robotics 1.5.0 (Optional - For compatibility layer)

Key Features

• Start and execute commands on the PLC
• Set and receive variables on the PLC
• Subscribe to cyclic and event based topics

Documentation

The full documentation can be found at https://keapi.readthedocs.io

Getting Started

Installation

To install this package you can either use python3 setup.py install or pip3 install keapi-robotics

Usage

To get startet you first need to connect to the applicalbe web sockets.

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

Once connected you are all set to send commands or subscribe to events.

Example

cmdserver.exec('set_active_client')

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

Compatibility Layer

While RobotControl WebAPI is in beta some functions such as set_var won't work. To counteract this, the Compatibility Layer implements functions to get and set variables and to execute Teach Control programs via TcWebApi.

Example

import keapi as ka
tc_var = ka.compat.connect_tc_var(192.168.1.1, Admin, pass)

# Get Var
pos_x = tc_var.get_var('TX2_90.RobotData.cartSetPos.x')

# Set Var
tc_var.set_var('IO.do_1', 1)