Tip
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Start application automatically during controller boot-up
Description
It is possible to start any program automatically during the boot-up procedure of the KR C4 controller.
Precondition
•User group “Expert”
•Windows interface (CTRL+ESC)
Procedure
•Open the file StartKRC.exe.config in the directory C:\KRC\BIN.
•Enter the application that is to be started in the section <applications>.
•A “non-KUKA application” should not be inserted before the start of WorkVisualServiceHost.exe.
•The applications are started in the order of the entries in StartKRC.exe.config.
Syntax
<application filename="Filename.exe" arguments="-abc" waitAfterStart="10" waitType="WaitForIdle"
waitTimeOut="10" onStart="Run" onStop="End" mainWindowId=”Cross 3”/>
Parameters for applications
Element
Description
filename
Type: String
•Name and path of the application to be started. The path can also be specified relative to StartKrc.exe.
arguments
Type: String
•Argument string for the application to be started.
conditions
Type: String
•“NoKrcRunning”: The action is only executed if no kernel system is running.
waitAfterStart
Type: Int
•Time in seconds that the system waits after starting the application before starting the next process.
waitType
Type: Enum
•“NoWait”: The system does not wait (default).
•“WaitForIdle”: Once the application has been started, the system waits until the application is idle.
•“WaitForExit”: Once the application has been started, the system waits until the application is exited.
•“WaitForKrcReady”: The system waits until the SmartHMI sends a WM_KRC_HMI_READY signal.
waitTimeOut
Type: Int
•Timeout in seconds for waitType=“WaitForIdle” or “WaitForExit” or “WaitForKrcReady”
onStart
Type: Enum
•Action on KRC start.
•“None”: No action.
•“Run”: Application is started (default).
•“End”: Application is stopped.
onStop
Type: Enum
•Action on KRC stop.
•“None”: No action.
•“Run”: Application is started.
•“End”: Application is stopped (default).
mainWindowId
Type: String
•If this string is contained in the WindowText of a window belonging to the application, it is assumed that it
is the main window of the application to which the WM_CLOSE signal is sent on exiting. If the parameter is not
specified or is empty, the application is terminated by means of TerminateApplication.
Example
<configuration> <kukaroboter.startkrc> <applications> <application internal="ClearRamDisk" conditions="NoKrcRunning"/> <application filename="VxWin\UploadRTOS.exe" arguments="-faststart "-config '%INSTALLATIONDIR%\ROBOTER\Config\System\%ENVPATH%\VxWin\VxWin.config' -file '%INSTALLATIONDIR%\ROBOTER\Config\System\Common\VxWin\faststart.cfg' -vmf '%INSTALLATIONDIR%\VXWIN\Vmf.bin' -os '%INSTALLATIONDIR%\ROBOTER\vxworks.bin' -startvmfos"" conditions="NoKrcRunning" waitAfterStart="2"/> <application filename="VxWin\UploadRTOS.exe" arguments="-config "'%INSTALLATIONDIR%\ROBOTER\Config\System\%ENVPATH%\VxWin\VxWin.config' -vmf '%INSTALLATIONDIR%\VXWIN\Vmf.bin'" "%INSTALLATIONDIR%\ROBOTER\vxworks.bin"" conditions="NoKrcRunning" waitAfterStart="5"/> <application filename="VxWin\UploadRTOS.exe" arguments="-faststart -once -nosleep -nowait"/> <application filename="SmartHmi\SmartHMI.exe" waitType="WaitForKrcReady" timeOut="120" mainWindowId="SmartHMI"/> <application filename="Cross3.exe" onStart="None" onStop="End" mainWindowId="Cross 3"/> <application filename="Services\WorkVisualServiceHost\WorkVisualServiceHost.exe" servicename="WorkVisualServiceHost"/>
<application filename="notepad.exe" arguments="xxx.txt" waitAfterStart="10" waitType="WaitForIdle" waitTimeOut="10" onStart="Run" onStop="End" mainWindowId="Cross 3"/> <application filename="Services\scheduler\KUKASchedulerService.exe" servicename="KUKA Scheduler Service"/> <application filename="C:\Windows\System32\Rundll32.exe" arguments="C:\Windows\System32\advapi32.dll,ProcessIdleTasks"/> <application filename="VxWin\UploadRTOS.exe" arguments="-x" onStart="None" onStop="Run" waitType="WaitForExit" timeOut="10"/> </applications> <behaviour timeOut="60" waitForPowerOk="1"/> <trayiconvisibility trayIcon="true"/> <diagnosis application="%INSTALLATIONDIR%\Util\KRCDiag\KRCDiag.exe" active="true" </kukaroboter.startkrc>
</configuration>
)