Hello everyone!
Is there any way to control digital outputs in the robot controller? I'm interested in those Outputs OUT VAL 1 - 8.
In the standart mxAutomation library we have functional block KRC_WriteDigitalOutput1To8 for that purpose, but in IntegratedRobotics I couldn't find anything like that.
This is a good question !
Maybe there is a bug and the ParImmSpecial-Reference is not created in the header of the UnitFB ( this will be generated by the export code, depending on the configured peripheral ).
As a quick workaround you can create this instance manually in the header your derived ProgrammableRobotUnit :
VAR_INPUT
ParImmSpecial : REFERENCE TO EcKukaKrc4MxAParImmSpecial REF= Peripherals.YourKukaInstance._parImmSpecial;
END_VAR
Please report this problem to the helpdesk, so that someone looks for it...