Storing a group output value to a variable

RAPID Programming
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1

Hello All,
Am using IRB6700 robot for pick and place Palletization application. i recive the count values from siemens PLC using profinet. Assigned Group Input and Group Output to receive decimal values from PLC to robot. But i do nit know how to store the decimal values of Group Output in a variable.

Any sample code would be helpful. Or any other method also appreciated.

Thanks

2

Rapid function GInput to read the value of a group input signal, and GOput to read a group output signal.

3

Code below, no data declarations though.

nMyNumber:=gi_myGroupInput;
SetGO go_MyGroupOutput,nMyNumber;

4

Thanks all.

Also i would like to know is there any way to send and receive integer from PLC via Profinet instead of using Group inputs and outputs.

5

Set it up as an analog signal. Refer to system parameter manual, inputs/outputs.

6

Hello all.

I have got an error when executing the following Instruction:
Var Signalgi PINFEED_CNT;
var num count;
count:=PINFEED_CNT;

Am getting Alias IO instruction error.

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7

The group input needs to be setup in the EIO configuration file not in RAPID.

Are you using RobotStudio to do your programing or via the teach pendant?