We're trying to manipulate the safety data in KUKA KRC4 with an OMRON NX PLC with Kuka el6695-1001 as a bridge. The communication with FSoE (EtherCAT) is working and we're able to display desired outputs from the PLC as inputs on the KUKA SmartPAD.
The problem is that the pre-assigned values from the PLC does not update the reserved safe inputs on the KUKA KRC4.