I would like to know if it’s possible to call directly a RAPID function using FPSDK.
I need to call the DefAccFrame RAPID function and what I do today : I have a system module with a PROC routine which calls DefAccFrame function. In the module, I declare some LOCAL VAR that I use for the arguments and the result of DefAccFrame.
To call the PROC routine, I use the method CallServiceRoutine of the Task Class, but for this, I need to press the Enabling device of the FlexPendant, what I want to prevent (I don’t have motion in my PROC).
And also, I would like to prevent from declaring LOCAL VAR for arguments and result.
If the program is stopped, you can move the program pointer to a different routine, but this might be a lot of work to implement.
[/QUOTE]
Effectively, the program of the motion task is stopped. I allready tried to move the program pointer and restore it after, but I am in manual mode and I need to press the enabling device. So it’s not very smart.
[QUOTE=RussD]
An alternative might be to call it from a TRAP routine connected to a signal, then use your FPSDK app to allow the user to toggle the I/O signal.
[/QUOTE]
I think I’m going to use a TRAP routine, but connected to a PERS variable (using IPers), and I will put it in our background task. But we already have a lot of interrupts due to our process and I would have preferred not to add another one. So I think, I will use START/RESTART/STOP/QTOP events to activate/disactivate my new interrupt when I need.