external job select on ERC

[JG]

Hi all,

I need to have my ERC controller run one of several jobs based on the outputs of a PLC (each output of the PLC will be assigned a diffenet JOB).  There will likely have to be 4 to 6 jobs.  I see an IO board in the controller, but there's much I don't know.  What voltage to use for my signals (I assume 24V), NPN or PNP (negatave or positive inputs to the IO board), and my biggest obstacle is how to make the controller know what to do with the inputs.

I know this is a way outdated controller, but it's what we have.  I appreciate any help anyone can offer.

[Pcarbines]

hello JG, although your  ERC is old & has earlier software (inform1) a lot of instruction sets etc are similar to later models & software versions (inform 2 & 3).
one method--
**You can use the instruction "CALL" in conjunction with IF comand. therefor a series of instructions as follows written into a "Master Job" &  Connect your input wiring as follows
Input one -- terminals 7TB-1  & common 0v 01C-47 ( computer inputs use internal supply 24v unless other- wise arranged)
Input two -- terminals 7TB-2  & common 0v 01C-47
Input three -- terminals 7TB-3  & common 0v 01C-47
Input four -- terminals 7TB-4  & common 0v 01C-47
Input five -- terminals 7TB-5  & common 0v 01C-47
---------You need to write a master job simular to --
NOP
MOV          (teach "safe" physical position for robot for all jobs your running, my personnel preference)
Call Job xxxx If input 001 = on  (or 1)
Call Job xxxx If input 002 = on  (or 1)
Call Job xxxx If input 003 = on  (or 1)
Call Job xxxx If input 004 = on  (or 1)
Call Job xxxx If input 005 = on  (or 1)
XXX (instructions for counters /end effector maintenance jobs etc . fit these types of details at end of
the master job if you need to , but don't turn "output "relays" off and on as they will self destruct with cycle loop with this simple master job instruction set.)
End                ( make sure job is registered and in auto and job will cycle back to start & re scan)
Two method . Master job is simular.
** connect your inputs into a block and use Binary or BCD and jump to that job number direct (larger numbers needed to justify doing that (99) or (255) as examples. Still a very popular way even with DX100s
**Create alternative master job using intermediary Job numbers ie.
If you still haven't any manuals on wiring I/O connection please advise and I can send you some split from larger files.

[JG]

Thanks friend, I'll give that a try (hopefully sooner rather than later).  I do have some manuals to refer to as well.  I assume when you say common 0v, that means that the inputs are PNP (+24 VDC)?  I can check the manual as well, but at the very least you've given me something to work with.

Thanks Aagain

[Pcarbines]

Please switch the 0volt wire from 0v terminal into input 7TB- x , this means NPN.

[JG]

Ah, I see.  Thanks again.

[Pcarbines]

Please e-mail me and I will send ERC maintanence manual , it shows I/O better than I can explain it.

[JG]

I already have it.  In fact I think it was you who e-mail it to me last year.  You're a great help

[JG]

Thanks again for all the help.  I managed to make it select which job to run based on which input is on (7tb-x).  Unfortunately, I may yet need to switch outputs on and off, and you previous told me "... don't turn "output "relays" off and on as they will self destruct with cycle loop with this simple master job instruction set".

why would that be?  Is there any way around it, or am I SOL?

[Pcarbines]

Hello JG,    ( for those readers on the Forum ,wondering why all this ?-" ERC does not have a inbuilt "Reserved start "option as in-- MRC -XRC- NX100 & DX100 , you write your own and register it as a Master Job)
** the reasons I warn against turning "Relay - outputs" Off & On is for two reasons
One - In the region after the last line in the example below (xxxxx) , it would mean that when this program is running and it's not called to a selected job , it runs in a loop at the scan rate of the computer which is mili secs. Any relay output included in this "uncalled" area will be turned On & Off at this scan rate and self destruct after a period of time, "Note !! I said "Relay" output (reason two) not solid state".
There is no reason you cannot include any outputs in your  "called" jobs , OR "include another job" that Carry's out your On & Off functions ,when called by a counter (see below) , such as every time a job is called you increment a counter , which in turn is scanned and when a number is reached you call a tip cleaning job (welding robot)

NOP
MOV          (teach "safe" physical position for robot for all jobs your running, my personnel preference)
Call Job xxxx If input 001 = on  (or 1)  ( increment counter x)
Call Job xxxx If input 002 = on  (or 1)
Call Job xxxx If input 003 = on  (or 1)  ( increment counter x)
Call Job xxxx If input 004 = on  (or 1)
Call Job xxxx If input 005 = on  (or 1)  ( increment counter x)
xxxxxxxxxxx
Call Job "tip clean"  if  counter X =< 13 (equal to or greater than 13)(on final line reset counter to Zero)

Just make sure where ever you put Outputs you are not in the uncontrolled loop OR  they are part of a soundly designed control function , normal practice.

The Motoman controllers have a vast array of logic options and you can write any number of control functions . Hope this goes some way to answering your question.

[JG]

Ok, I understand now.  As it happens, the called jobs are where I need the relay outs.  So, in a sense, the master job is like a continuous loop with no exit condition (sorry, I'm more of computer programmer).  That's good enough for me.  Thanks again