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KUKA Signals Define Groups

Gears Phenom Gears Phenom
Gears Phenom

can you make an group input or output with the following syntax from KUKA KRC?

 

*******

SIGNAL I_ABLAUF_NR $OUT[33]  TO $OUT[48]

*******

 

for example:

 

$OUT[33]

$OUT[34]

.
..

....

are defined as robot signals!

 

I try to convert an INT to a Group of BOOLs

 

WITHOUT LOGIC BLOCK

Kind regards,

Benjamin Voelzke
1 REPLY

Re: KUKA Signals Define Groups

Pioneer
Pioneer

Hello Benjamin,

 

i had the same Problem just a while ago with Fanuc-Rj.

https://community.plm.automation.siemens.com/t5/Tecnomatix-Robotics-Forum/Fanuc-group-output-setting...

My solution is for now:

Set group out in OLP is translated to set digital outs in an XML Customization.

In the XML i calculate which DO will be set with an GO

GO[1]=3 => DO[1]=1 , DO[2]=1

 

I never request the GO so there is no need to do the step in the other direction like:

DO[1]=1 and DO[2]=1 => GO[1]=3

 

On the other hand the Group IN and Digital IN is defined as independent variables with overlapping adresses so both will be set with the actual value from the plc. No calculation needed.

GI[1] => AB10

DI[1] => A10.0

DI[2] => A10.1

 

Its not testet yet but i think in theory it should work