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    KUKA mxAutomation digital outputs

    KUKA mxAutomation digital outputs

    NexeedUser
    New Poster

    Hello everyone!

    Is there any way to control digital outputs in the robot controller? I'm interested in those Outputs OUT VAL 1 - 8.

    NexeedUser_0-1730365567002.png

    In the standart mxAutomation library we have functional block KRC_WriteDigitalOutput1To8 for that purpose, but in IntegratedRobotics I couldn't find anything like that.

    3 REPLIES 3

    Thorsten_Brach
    New Contributor

    Should be possible via Unit.ParImmSpecial.DigitalOutputs[_idx]

    what if I don's see it?

    NexeedUser_0-1730379038003.png

     

    This is a good question !

    Maybe there is a bug and the ParImmSpecial-Reference is not created in the header of the UnitFB ( this will be generated by the export code, depending on the configured peripheral ).

    As a quick workaround you can create this instance manually in the header your derived ProgrammableRobotUnit :

    VAR_INPUT

      ParImmSpecial : REFERENCE TO EcKukaKrc4MxAParImmSpecial REF= Peripherals.YourKukaInstance._parImmSpecial;

    END_VAR

    Please report this problem to the helpdesk, so that someone looks for it...

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