Hello,
i have robot Lbr iiwa R 820, communicating in profinet with a PLC, and i want to activate my boolean outputs in my program, but it doesn't work.
for example here is a program test :
Code
@Inject
public RobotOutputsBooleansIOGroup _robotOutputsBools;
private AbstractFrame homePosition;
@Override
public void initialize() {
logger=new MyLogger(_logger);
logger.info("Application initialization");
kukaController = (Controller) getContext().getControllers().toArray()[0];
iiwa = (LBR) kukaController.getDevices().toArray()[0];
iiwa.detachAll();
screwer.attachTo(iiwa.getFlange());
robotIO=new RobotIO(kukaController);
}
public void run() {
homePosition = _appData.getFrame("/HomePos");
iiwa.move(ptp(homePosition).setJointVelocityRel(0.2));
while (true) {
robotIO.resetSignals(logger);
iiwa.move(ptp(homePosition));
_robotOutputsBools.setHOME_POSITION(false);
}
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this is a simple program, where i want the robot to go to home position, and then send output to PLC that it is in home position, it doesn't change.