KRL Source Files

KRL Source Files

The KRL source code of the KRC unit can be found here:

• KRL File: FRIControl.src
• KRL File: FRIControl.dat
  
  

The remote host is permanently communicating with the KRC unit via a UDP connection. In order to start/stop the Fast Research Interface on the side of the KRC unit, both hosts exchange data via the variables

- $FRI_TO_BOOL[1...16],
- $FRI_TO_INT[1...16],
- $FRI_TO_REA[1...16],
- $FRI_FRM_BOOL[1...16],
- $FRI_FRM_INT[1...16], and
- $FRI_FRM_REA[1...16].

The first three arrays are sent from the KRC unit to the remote host; the latter three data arrays are received by the KRC from the Remote host. The remote host may call the methods

- FastResearchInterface::GetKRLBoolValues(), FastResearchInterface::GetKRLBoolValue()
- FastResearchInterface::GetKRLIntValues(), FastResearchInterface::GetKRLIntValue()
- FastResearchInterface::GetKRLFloatValues(), FastResearchInterface::GetKRLFloatValue()
- FastResearchInterface::SetKRLBoolValues(), FastResearchInterface::SetKRLBoolValue()
- FastResearchInterface::SetKRLIntValues(), FastResearchInterface::SetKRLIntValue()
- FastResearchInterface::SetKRLFloatValues(), FastResearchInterface::SetKRLFloatValue()

to read or write these variables.