Mapping INT value trough OPC UA

[FAB1]

Hi all,

I’m using KUKA sim 4.3 and I’m have trouble reasing values from OPC UA server (codesys in my case)

The boolean are OK but i’m only getting the first bit on INT (READ OR WRITE).

How can you achieve this? KUKA support could not help me with this

Thanks!

[TSy]

Connectivity reads it as integer from the server and then converts it to a Boolean because your simulation variable is a Boolean signal (or Boolean signal in a Signal map in this case).

You can get the value to an integer signal or integer property just as easily, but using it inside a KRL program requires ugly hacks because of KUKA’s limitations.

How to read global variables from robot program

Hi, As of right now there is no direct way to access KRL variables with Python and vice versa. The only option right now is to convert the variable to IO signals via KRL and decode those signals in your Python code by reading the IO values. Here are two examples that utilize this: Robot sends value via IO to other robot: Send_Value_Robot_To_Robot.vcmx (4.5 MB) Conveyor reads height of parts, sends the height via IO signals to robot, robot adapts pick height: 16bit_Real_Signal_Sensor_Exampl…

[FAB1]

OK thanks!
From what I understand I need another add-on (modeling) to run Python script in kuka sim?