transfer integer value between PLC and KRC4

How many bits per signal? Integer -- signed or unsigned?

Siemens and KUKA use different byte ordering for multi-byte signals, look up "swapping" in the WorkVisual Help menu.

In KRL, declaring a multi-bit Signal creates an Integer (unsigned unless it's 32bit) that is the direct integer conversion of the binary value on the $INs or $OUTs.

DECL SIGNAL MySignal $IN[1] TO $IN[16]

Will create a 16bit unsigned integer that is the base-10 value of the binary value on Inputs 1-16.

you can add the lane to your program in the declaration section.
this will make this usable in that one program only.
if you place the declaration in $CONFIG.DAT, that will make it global so any program can use it.

Going by that screen shot, your camera may be using a different byte ordering than the KRC does. So when you group that I/O in WorkVisual, you may need to byte-swap them.

As Panic says, you can place the SIGNAL declaration anywhere that KRL would accept a DECL for creating a variable, but what file or subroutine you declare it in will define it's "scope" of availability. Very briefly:
1. Declared in a subroutine or function: Only available in that subroutine/function
2. Declared in the .DAT file of a module: available to any subroutine/function in the .SRC file of that module, but not outside that module
3. Declared in $CONFIG.DAT: available to any module in the robot
4: Declared in a PUBLIC .DAT file other than $CONFIG.DAT, with a GLOBAL prefix: same as $CONFIG.DAT

Lookup geometric operator

you need to be much more specific... what is "it" that does not work?

just map 32-bit data to IO on the PLC side, map 32-bit data to IO on KRC side. test that data is transferred correctly by toggling bit by bit on PLC side (outputs) and record exact order they are turning on at the KRC side (input).
order has to match so adjust it accordingly by modifying mapping on one of the ends. for example adjust IO mapping in WorkVisual by using byte swapping or individual bit mapping any way needed to get data sent from PLC appear in correct form at KRC. done...

DECL SIGNAL MySignal $IN[1] TO $IN[16]

In this how to make this signal retentive?

I have declared it in config.dat

You declared an input, that is retentive as per definition (the task is to make it retentive on the other side). A different thing is a retentive output. Therefore you have to have some code in SPS.sub

Actually i have declared output as a signal instead of input so for that what can I do for making the output integer retentive?

Declare a global integer in config.dat, let's say

Decl int value=0

In the program when you want to set the output write:

Value=101

In SPS.sub in the loop section write

MySignal=value

Be aware that you will have a short time between setting value and mysignal.

1. create another variable and make sure it is retentive. since you need to access it from SPS, this means it need to be a global variable and it must be initialized in the DAT file where it is declared.

2. in the Submit keep copying (continuously) value of the output signal to this variable so whenever robot is powered down, last value is retained in the DAT file. so this need to be inside LOOP in the SPS.

3. in the SPS, place line before LOOP to copy retained value from DAT file to the output signal. this way signal is updated only on powerup, not continously. your program (or variable monitor, or IO monitor) can be used to change the value as needed.

I did use retained signal by using sps and it is working good.

But The problem was robot was on coldstart, after making it on hibernate.. outputs are retaining as needed.😅

Thank you guys for support.