Function Generator

    Another old thread comes back around....function generator in KSS 5.x

    I have the manual, which is quite helpful relative to any documentation on the newer KSS versions. But still missing a few pieces.

    Currently trying two approaches, one being to use $DIGIN1 , since I am not using analog. My sensor data is mapped in via devicenet as a 32 bit signal. Also using KukaVarProxy (works quite well for some things actually).

    My current issue with the digin, is that it has a scaling issue. I am baffled by this, but there is a lot of code on this old robot. I am pretty sure my bytes are mapped correct, and currently I am trying a DWORD on my PLC to 32 bit INDW in the IOSYS, with the DIGINCODE set to #UNSIGNED. But the signal has a nonlinear scaling ? PLC=500, DIGIN = 1000; PLC = 1000, DIGIN = 1250. Is the tech function persistent? I even rebooted.

    Alternate method, the #DATALINK class. Writing a correction frame would be ideal, I have multiple ways to accomplish that. But how do I link the FRAME, I assume its not linked the same way as TECHIN normally is linked to the analog or digital? Why they completely omit that from the manual is a bit surprising.

    I couldn't use DIGINCODE.
    The information I took from For KUKA System Software 8.1, 8.2 and 8.3:
    Page 102.
    SIGNAL $DIGIN1 $IN[20]TO $IN[27]
    DECL DIGINCODE $DIGIN1CODE=#UNSIGNED
    DIGIN on $TECHIN[2] = Faktor * $DIGIN1 + Offset

    DIGINCODE - I don't have :no1:

    DIGIN - not perceived. :no1:

    What should be added to the robot for DIGINCODE to work? ???

    manual you are referring to is older and this info was still not removed.
    use newer one ("KSS_81_82_83_84_System_Variables_en.pdf")
    and compatibility when migrating from 5.x to 8x ("Kompatibilitaet_8x_en.pdf")

    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

    [size=2]what kind of accuracy do you expect? 16-bit allows 65536 counts.[/size]
    [size=2]17000 mm / 65536 counts is about 0.259 mm per count[/size]


    [font=verdana, arial, helvetica, sans-serif][size=2]what is your application that this is not good enough?[/size][/font]

    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

    Quote from panic mode


    basically, don't use DIGIN, use ANIN
    you can map bunch of DI to ANIN in WoV

    Could you explain how you do this? I have read in the WoV 5.0 manual at the IO mapping chapter, but I havent find anything mentioned of using a bunch of DI to be read as a ANIN by the Kuka system. Or did I misunderstand what you mean here? :flower:

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