Hello everyone,
I am currently using KUKA.Sim 4.3 and I'm trying to control a KUKA.Sim robot model variable declared in $config under R1 > System > $config from an external communication interface, as shown in the attached image (Image1).
So far, I've attempted to achieve this using OPC UA communication within KUKA.Sim's connectivity options. However, I've encountered a problem: I can't seem to locate the corresponding variable in $config to map it with the OPC UA server variable.
My ultimate goal is to control a newly declared variable in $config, specifically DECL E6AXIS COM_E6AXIS, in real-time. I intend to do this so that the KRL program running inside the RCS in KUKA.Sim can generate robot movement commands based on the changes in this variable within a loop.
Therefore, I have two main questions:
- Is it possible to control variables declared in $config in real-time via external communication in KUKA.Sim?
- Can this be achieved specifically using OPC UA to control the $config variables in real-time?
As a side note, from what I've observed so far, OPC UA seems to allow control over variables within the Properties section of a model hierarchy in KUKA.Sim (as shown in Image2). However, I am not sure how to link these Properties variables to the program.
Any insights or solutions would be greatly appreciated. Thank you!
