KUKA Robot Group Signal Input and Output Floating Point Numbers

1. Robot Side DeclarationSIGNAL Cognex_I_X1 $IN[3104] TO $IN[3111] SIGNAL Cognex_I_X2 $IN[3112] TO $IN[3119]SIGNAL Cognex_I_X3 $IN[3120] TO $IN[3127]SIGNAL Cognex_I_X4 $IN[3128] TO $IN[3135]SIGNAL Cognex_O_X1 $OUT[3048] TO $OUT[3055]SIGNAL Cognex_O_X2 $OUT[3056] TO $OUT[3063]SIGNAL Cognex_O_X3 $OUT[3064] TO $OUT[3071]SIGNAL Cognex_O_X4 $OUT[3072] TO $OUT[3079]INT Cognex_OFFSET_X=4CHAR Cognex_O_BUFFER_X[4]DECL REAL Cognex_INPUT_OFFSET_X=8.90600DECL REAL Cognex_OUTPUT_OFFSET_X=1876.617192. Robot Program Section[Robot to PLC]$tool=tool_data[CognexToolID]$base=base_data[CognexBaseID] Cognex_SEND_Pos_DATA=$Pos_ActCognex_OUTPUT_OFFSET_X=Cognex_SEND_Pos_DATA.X Cognex_OFFSET_X=0

CAST_TO(Cognex_O_BUFFER_X[],Cognex_OFFSET_X,Cognex_OUTPUT_OFFSET_X)Cognex_O_X4=Cognex_O_BUFFER_X[1]Cognex_O_X3=Cognex_O_BUFFER_X[2]Cognex_O_X2=Cognex_O_BUFFER_X[3]Cognex_O_X1=Cognex_O_BUFFER_X[4]

[PLC to Robot]

(The robot needs to adjust itself when receiving data from the PLC due to different high and low levels.)Cognex_BUFFER_X[1]=Cognex_I_X4Cognex_BUFFER_X[2]=Cognex_I_X3Cognex_BUFFER_X[3]=Cognex_I_X2Cognex_BUFFER_X[4]=Cognex_I_X1Cognex_OFFSET_X=0

CAST_FROM(Cognex_BUFFER_X[],Cognex_OFFSET_X,Cognex_INPUT_OFFSET_X)

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