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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