KRC4 External Automatic mode without PLC (just a HMI as MBus TCP master)?

Hi guys,
My questions are as follows,
1.Is there a different access procedure for the Robot Forum link that's says "External Auto without PLC" post. It says I don't have access rights and redirects to the home page.
If someone could share me the same that would be great.
2. I modified my Cell.src to call the program number from my HMI so for this I replaced PGNO with $IN[3000] (grouped from 3000-3015 as Integer) from the HMI. But it didn't work, the errors on the smartpad says invalid/incorrect type assigned to Switch , should be INT, char or enum. Can someone explain how this is properly done?
3. Is it compulsory that the controller should first be in T1 then bought to home position and then turn on EXT mode wait for 100ms to drop move enable.? Can someone help me here please? I would like to know what IN and OUT I need to turn on EXT mode and click on the program number from my hmi? Thanks
4. Can I swap $OUT[993]...$OUT[996] to IN ?
5. Should the signals be coils ? Or holding registers?
And if it is a holding register is this a two byte register or just declare one byte high/low?

Any help is greatly appreciated.

Hmi operates as modbus tcp master to the gateway device and robot controller acts as a profinet io master to the gateway. While gateway is a slave device on both ends.

Quote from hermann

1. Post the link, not a flowery description.
https://www.robot-forum.com/robotforum/kuk…-without-a-plc/
This is the link I might want to refer to, and this link was described in this post as below.
https://www.robot-forum.com/robotforum/kuk…matic-external/
2. Post the code, not a flowery description.
Here's the code for my cell.src.
The error is at SWITCH and says "Invalid type. need to be INT, CHAR or ENUM"
So does it mean I cannot swap PGNO with my $IN[3000] signal directly?

Code

&ACCESS  RVP
&COMMENT HANDLER on external automatic
DEF  CELL ( )
  EXT Jig1()
  EXT Jig1_2225()
  EXT Jig2()
  EXT Jig2_2225()
  EXT down()

  DECL CHAR DMY[3]
  DMY[]="---"

  GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
  ;GLOBAL INTERRUPT DECL 3 WHEN $IN[2018]==TRUE DO IR_STOPM ( )
  INTERRUPT ON 3 
  BAS (#INITMOV,0 )

  $H_POS=XHOME
  IF CHECK_HOME==TRUE THEN
    P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position 
  ENDIF

  $H_POS=XHOME
  PDAT_ACT=PDEFAULT
  BAS (#PTP_DAT )
  FDAT_ACT=FHOME
  BAS (#FRAMES )
  BAS (#VEL_PTP,100 )
  PTP  XHOME

  P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode

  LOOP
    P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
    SWITCH  $IN[3000] 


    CASE 1
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      Jig1()


    CASE 2
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      Jig1_2225()

    CASE 3
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      Jig2()

    CASE 4
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      Jig2_2225()


    CASE 5
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      down()

    DEFAULT
      P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 )
    ENDSWITCH
  ENDLOOP
END

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3. This is programmed in Cell.src. It is not compulsory. You can modify cell.src for your requirements.
4. You cann not swap outputs to inputs. What do You mean really? What function do the outputs 993 ... 996 have in your code?
So is it advisable to declare KRC4 Digital IN and Digital OUT to external HMIs?
I see some KRC4 IOs in KRC:\R1\System\$config.dat file
And I see, INT PGNO =0
But I am not able to assign them to digital IOs to be controlled from external HMI device?
5. Which signals? Coils? Holding registers? On which side, hmi or robot, on robot there exist only Inputs and outputs.
So from my External HMI, can I assign coils to trigger the MOV_ENABLE, EXT mode, ON_Path and other variable by triggering single coils assigned to the KRC4 digital IN and OUT?
Or does it have to be a 2byte(1word) holding register to trigger the signals? Please advice.
Read and follow https://www.robot-forum.com/robotforum/kuk…rum/read-first/

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Thanks

Perfect Hermann,
Now I got more educated

But also another small question.
What is the use of "Profinet Device Stack" and "Profinet Controller Device" ?
What happens when I check those and activate them?

Im accessing these from here, Profinet->Settings->Activate Profinet Device Stack and in the same tab we have Controller device and allows the user to chose the number of safe IO, IO data, and bus timeout.

Please suggest.
Thanks

Thanks for the info SkyeFire.
Appreciate your responses.
Cheers

Sorry guys but just a little one this time.
So when I declare the robot signals to my desired IOs in Files->KRC->STEU->$config.dat

For example: Signal $DRIVES_ON $IN[200] is present in my KRC/STEU/Mada/$machine.dat so now if I declare Signal $DRIVES_ON $IN[2000] in KRC/STEU/$config.dat
Should I comment out/remove the signal in machine.dat or keep both and controller will mask these internally?

Please advice

Cheers

Now i totally understand the process.
Thanks for your response.
Appreciate your help.
cheers