So I have read though my manual provided with EthernetKRL 2.2 and have attempted to make the connection between my PC and my KRC4.
The PC I am using is the same one that I currently have WV connecting to the controller with no issues. But I cant seem to get the EKI to work.
Would anyone have any suggestions or help in getting my cell.src / Auto External up and running through EKI.
The only thing I am trying to change externally is a variable that controls a switch statement.
If anyone needs more information, I would be happy to provide it. Thank you for the help.
Code
&ACCESS RVEO
&REL 1
&COMMENT HANDLER on external automatic
DEF cell1( )
DECL INT OLD_VAR
DECL INT VAR
;FOLD INIT
DECL CHAR DMY[3]
DMY[]="---"
;ENDFOLD (INIT)
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD CHECK HOME
$H_POS=XHOME
IF CHECK_HOME==TRUE THEN
P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position
ENDIF
;ENDFOLD (CHECK HOME)
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
PTP XHOME
;ENDFOLD
;FOLD AUTOEXT INI
P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode
;ENDFOLD (AUTOEXT INI)
LOOP
WAIT FOR VAR<>OLD_VAR
OLD_VAR = VAR
SWITCH VAR
CASE 1
SalAFetch ( )
CASE 2
SalBFetch ( )
... ... ...
CASE 39
CrowdBD ( )
CASE 40
RileyBD ( )
DEFAULT
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
PTP XHOME
;ENDFOLD
ENDSWITCH
ENDLOOP
END
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