[JaeHong Yoo]

Hello, it's been a while since I've posted a question. Thank you all for your continuous support.
Today, I have a question about using c3bridge, and I believe Dmitry might have good insight into this topic. I would greatly appreciate your help.
Currently, I am studying the c3bridge documentation to create a Python client program. Specifically, I want to confirm whether it's possible to write system variables to $config.dat via a c3bridge client.

$config.dat:

Code:

&ACCESS  RV
&PARAM DISKPATH =
&REL 5
DEFDAT  $CONFIG
INT COM_ACTION=0
INT COM_ACTCNT=0
REAL COM_ROUNDM=0
REAL COM_VALUE1=0
REAL COM_VALUE2=0
REAL COM_VALUE3=0
REAL COM_VALUE4=0
DECL E6AXIS COM_E6AXIS
DECL POS COM_POS
DECL FRAME COM_FRAME
DECL E6POS COM_E6POS
ENDDAT

Furthermore, I need to know if I can communicate with the c3bridge client program while running the RoboDKsync.src KRL program, thereby writing variables into $config.dat to control the robot through RoboDKsync.src.

RoboDKsync.src:

Code:

&ACCESS RVP
&REL 1
DEF RoboDKsync562()
  BAS(#INITMOV,0)
  PTP $AXIS_ACT

  ; Define Digital Input linked to the probe
  INTERRUPT DECL 5 WHEN $IN[1] DO OnProbeTriggered()


  $ORI_TYPE = #VAR
  $CIRC_TYPE = #BASE

  $VEL.CP = 3
  $ACC.CP = 10

  $BASE = {FRAME: X 0, Y 0, Z 0, A 0, B 0, C 0}
  $TOOL = {FRAME: X 0, Y 0, Z 0, A 0, B 0, C 0}

  $ADVANCE = 3
  $APO.CPTP = 50
  $APO.CDIS = 0

  COM_ROUNDM = 10
  COM_ACTCNT = 0

  WHILE TRUE
    CONTINUE
    ActionLoop()
  ENDWHILE
END

DEF ActionLoop()
  DECL INT io_id
  DECL INT j_id
  DECL INT program_id

  COM_ACTION = 0
  CONTINUE
  WHILE COM_ACTION >= 0
    SWITCH COM_ACTION

    ; Empty Action
    CASE 1
      COM_ACTCNT = COM_ACTCNT + 1
      COM_ACTION = 0

    ; Move Joints
    CASE 2
      IF COM_ROUNDM >= 0 THEN
        PTP COM_E6AXIS C_PTP
      ELSE
        PTP COM_E6AXIS
      ENDIF
      COM_ACTION = 0

    ; Move Linear
    CASE 3
      IF COM_ROUNDM >= 0 THEN
        LIN COM_E6POS C_DIS
      ELSE
        LIN COM_E6POS
      ENDIF
      COM_ACTION = 0

    ; Move Circular
    CASE 4
      IF COM_ROUNDM >= 0 THEN
        CIRC COM_POS,COM_E6POS C_DIS
      ELSE
        CIRC COM_POS,COM_E6POS
      ENDIF
      COM_ACTION = 0

    ; Pause
    CASE 9
      COM_ACTCNT = COM_ACTCNT + 1
      WAIT SEC COM_VALUE1
      COM_ACTION = 0

    ENDSWITCH
  ENDWHILE
END

DEF OnProbeTriggered()
  INTERRUPT OFF 5
  COM_VALUE1 = 1
  BRAKE
  RESUME
END

Thank you in advance for your help!

[Sergei]

This should be possible, but with limitations
Please note that the config.dat file can only be edited if all interpreters are stopped