Environment: KRC4, KSS 8.2
Is it possible to assign an I/O buffer to controller memory, rather than to an external device?
In the DTM catalog, I see a number of Kuka Proxy DTMs; I'm wondering if these are RAM devices. (Does anyone know where to find documentation for the DTMs in the list?)
Background:
I have linked four outputs to inputs. These four I/O points are assigned to system signals.
The idea is to have the Submit interpreter control the robot by writing to the $OUT bits.
Specifically:
$OUT[43] links to $IN[43]; $IN[43] is assigned to $EXT_START
$OUT[45] links to $IN[45]; $IN[45] is assigned to $CONF_MESS
$OUT[46] links to $IN[46]; $IN[46] is assigned to $DRIVES_OFF
$OUT[47] links to $IN[47]; $IN[47] is assigned to $DRIVES_ON
The four I/O points need a physical home. (Or so it would seem.) The best place for them is in RAM, as the signal logic is entirely internal to the robot.
As to linking an output to an input:
The I/O Mapping screen in WorkVisual allows me to link an output to an input.
The help system says that it is "possible to map inputs and outputs of the robot controller to each other."