KUKA mxAutomation digital outputs

[NexeedUser]

Hello everyone!

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

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

[Thorsten_Brach]

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

[NexeedUser]

what if I don's see it?

[Thorsten_Brach · Accepted solution]

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...