I have been trying to output the audio from my UE40MU6100 to Logitech Z4 speakers. The speakers have a standard small audio jack. I cannot see a suitable audio out socket in the TV that worked.
I have also tried an audio extractor using HDMI cables that I couldn't get to work and then same gadget using an optical cable. Also no joy.
I was able to use these speakers with my older Samsung TV via a sound output.
