Author Topic: Issue about digital output Ardiuno  (Read 851 times)


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Issue about digital output Ardiuno
« on: December 19, 2018, 12:35:31 PM »
Hi there, my name is Fin.I'm newbie here

 I have one question to ask you. I want to do light painting with KUKA KR900, and the problem is how to communicate between KUKA and ardiuno: we want the lights on only when KUKA is moving along the curves we set, and off when KUKA moving between those curves. I have looked up some material and it mentions something about digital output, but I don't really understand. Can someone help to tell me the method briefly?

Any suggestion would be grateful
Thank you in advance 
« Last Edit: December 19, 2018, 01:02:38 PM by jonefin001 »

Johannes @ Robots in Architecture

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Re: Issue about digital output Ardiuno
« Reply #1 on: December 20, 2018, 10:53:16 PM »

If you are using a KUKA Agilus, the robot has got built-in digital outputs: the plug on top of A4.
So you need to get a fitting plug (directly from KUKA or somewhere else, see also the Agilus manual) and then you might need to configure the output in WorkVisual. In WorkVisual you e.g. define that the first digital output of the Agilus is $OUT[1], the second one $OUT[2] etc. So you are matching the physical outputs with the internal numbering of the robot.

The signal is 24V, so you will need to get it down to 3.3V or 5V in order not to fry your Arduino.
I hope this helps a bit!



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Re: Issue about digital output Ardiuno
« Reply #2 on: January 02, 2019, 12:25:37 PM »
Hi Fin,

We have done a similar project of light painting with our KR10-R1100-2.
As pointed out by Johannes you can use the built in I/O from the wrist after you have mapped them in workvisual.

We use simple 24v relays to link the robot 24v outputs to the arduino 5v Inputs and this works fine. Like this you can define in grasshopper/kuka PRC when to turn the LED on and use the arduino to control more advanced settings of your LED (like special blinking pattern or color change for example).