Trigger outputs via variable

    Hello,

    (Using KRC4)

    I wonder if it's possible to create a Boolean variable that have multiple robot outputs connected to it, so when I change the state of the bool the outputs should be the same?

    I have tried something like this.

    Code
    DECL BOOL test
$OUT[22] = test
test = TRUE

    The above code works for a single output and only locally.
    I would like to be able to set more than one output to the same variable and with that variable be able to use it anywhere in the program and it should trigger the outputs accordingly.

    Thanks in advance,
    borelius

    Quote from eusty


    Use the SIGNAL command to declare the outputs in $CONFIG.DAT.

    SIGNAL TEST $OUT[22] TO $OUT[23]

    Then TEST acts like a 2 bit word.

    1=Out 22 is true
    2=Out 23 is true
    3= both true

    Posted with Tapatalk

    That seems like a lot of work - having to keep track of integer representations of how he would want his outputs set. I would probably just add a section to the SPS that monitors your variable and sets the individual outputs to match it.

    Inside the SPS loop...

    $OUT[22] = TEST
    $OUT[23] = TEST
    ...
    $OUT[N] = TEST

    When TEST goes false, all affiliated outputs go false. When TEST goes true, all affiliated outputs go true.

    Excel meI have a question, now I have a Kuka c4 system to do pofinet communication with plc1515, using the SIGNAL function to compose IO into real data, input can receive variable assignment, how to output to plc

    SIGNALs are INTs not REALs. so to write REAL value to bunch of outputs, you can declare signal that is 32 bit wide, then cast REAL to INT (it is just transferring value bit by bit without any conversion). so INT value will look weird but on the other side you can reverse the process and get it back to REAL.

    the other option is to simply use suitable scale factor K to multiply real value and store result into INT (or signal). then on the other side simply reverse the process. for example when it comes to Cartesian position values, suitable value for k is 1000. this means you shift decimal point by 3 places.

    ;in a DAT file

    DECL SIGNAL TO_PLC $OUT[1] TO $OUT[32]

    DECL REAL R = 123.456789

    DECL INT K =1000

    ;then in your program

    R = .... ; you can set new value if you like

    TO_PLC = K * R ; value is multiplied by 1000, and then rounded to fit into integer, so you get 123457

    and in PLC divide value by 1000 to get back reasonably close value (123.457 )

    btw, K does not need to be "nice" decimal value. you could use something like 1257 too. but whatever value you use must be the same both in KRC and PLC. using neat decimal power helps with debugging since the shifted value is directly readable without using calculator.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Thank you for your reply, brother. I only need to send the output value of the variable to the plc, and the plc side can convert the value to binary for me. Do I use the function output to output the value to the plc

    Quote from Dmlyt

    Do I use the function output

    What do you mean? There is no "function output" in KSS. Eventually you will have to set all those $OUT[x] (x being a integer for a specific array index) that are configured to talk to your PLC and contain the required value. If you grouped them in a signal of course you can also assign the value directly to the signal.

    Fubini

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