Hello everybody,
I'd like to know your opinion about a system I'm working on. Kuka robot is KR16-2, the controller is KRC4, and it communicates via Ethercat with a PLC Omron, on which I mounted an Ethercat slave.
This gives me a shared area of memory of up to 100 double word, used in the following way: PLC takes some measures, elaborate them and send the coordinates to robot via the shared memory.
At the moment, Kuka side, I wrote a simple test program declaring 10 different variables
SIGNAL input1 $IN[1] TO $IN[32]
SIGNAL input2 $IN[33] TO $IN[64]
.....
and, with a proper comunication with the PLC everything seems to work (I read one DWord at a time, convert it to real, store it etc).
Question: is there another (smarter) way to declare all those SIGNAL? Must i declare them one by one like i did or, for example, could i create something like an array? Please note that every single inputX variable will be cast from to real using cast_from and cast_to functions.
Sorry for my English, not my native language.
Thanks
Marco