KUKA KRC4

Kuka x12 and digital outputs

Look here this topic should help should help!

to interact with outside world via signals, your controller needs I/O (inputs and outputs). Robot systems normally do not come with any I/O, this is added by users. Kuka can also install some if at the time of ordering type and number of I/O was specified - check Optional interfaces manual for your version of controller.

Open workvisual project and check if and how those I/O are mapped. If they ate mapped you can use them. You can manually toggle outputs in T1 mode...

As Panic already said: find the I/O modules in the WorkVisual project, determine which $INs and $OUTs they have been mapped to.

You'll also need to determine where your I/O modules are being powered from, and what type the outputs are. Are they dry-contact relay style, or will they source 24V to the valve? How much current can they pass or source, vs how much draw the valve requires? Are the I/O modules wired to draw power from the KRC's internal supply, or to take power from an external source?

if this is a new robot system, chances are the I/O are just installed mechanically and electrically but they are not mapped (unless someone at KUKA was kind and decided to give you a hand). in some cases they are not even connected electrically and first thing you need to do is add jumpers to bus coupler module to power not just coupler but also the I/O slices to the right of it...

so you HAVE TO get WoV installed and configured and open active project from robot....

Without this you would have very long trial and error experiment trying to find which of 8192 outputs that robot can use are those 16 installed in your cabinet.

and just in case your question is not misinterpreted:

note that green indicators mean output is SUPPOSED to be active (TRUE). but if this is not mapped to physical output it will not do anything.