Robots KUKA Consulta

single precision REAL is 32-bit value and KRL does not use 64-bit.

so declare 32-bit signal such as

SIGNAL VALUE_RAW $IN[1] TO $IN[32]

also declare REAL variable (this is also 32-bit) such as

DECL REAL VALUE

then cast the value_raw to value using

VALUE = b2r(VALUE_RAW)

where b2r function is

DEFFCT REAL b2r(n:in )
    decl int n,ofs
    decl char buf[4]
    decl real f

    ofs=0
    cast_to(buf[],ofs,n)

    ofs=0
    cast_from(buf[],ofs,f)

    return f
ENDFCT