June 18, 2019, 03:38:13 PM
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 DI, DO in Hyundai Robot

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April 06, 2017, 04:10:40 AM
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danielisrael


Can anyone tell me the importance of DI, DO in Hyundai Robot.
In manual I see DO - Digital Output signal for the system(open collector output)
                         DI-  Digital input signal for the system

Today at 03:38:13 PM
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April 09, 2017, 02:19:29 AM
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Robtics


Quote
     ' ValveBody Pickup
     ' - Prog No : 0010.JOB -
     '
     WAIT DI9=1 ' InC/V Pickup Grant
     DO9=0 ' InC/V Interference Off
     '
S1   MOVE P,S=100%,A=7,T=1  (0.003,602.654,1302.587,-89.381,2.033,0.020,&H0040)
     '
S2   MOVE P,S=80%,A=3,T=1  (39.218,770.831,950.000,-92.398,-0.201,-0.258,&H0008)
S3   MOVE L,S=50%,A=1,T=1  (39.222,770.833,550.000,-92.398,-0.199,-0.258,&H0008)
S4   MOVE L,S=20%,A=0,T=1  (39.242,805.942,294.499,-92.395,-0.205,-0.262,&H0008)
     CALL 91 ' Gripper Clamp
S5   MOVE L,S=20%,A=1,T=1  (39.238,805.943,350.000,-92.395,-0.204,-0.262,&H0008)
S6   MOVE L,S=80%,A=5,T=1  (39.238,805.942,950.000,-92.395,-0.204,-0.262,&H0008)
     '
S7   MOVE P,S=100%,A=7,T=1  (0.003,602.654,1302.587,-89.381,2.033,0.020,&H0040)
     DO9=1 ' InC/V Inteference On
     PULSE DO11=1,Ton=2,Toff=0.5,CNT=1 ' InC/V Pickup Done

This is Sample program for Basic Handling.

Yep, DO (Digit Output) is send signal status (On or Off) to PLC unit.
DI (Digit Input) is Receive Signal from PLC unit.

And discuss IO_List with PLC programmer.
look my attached jpg file.

When your Automation Component without PLC, you don't have to use DI, DO signals... maybe?
but, almost Industrial Robot Connected PLC.

becuz DI, DO is related Promise with PLC.

Grant, Done, Requst... and How to Start the Robot? How to STOP the robot?

all steps dependence DI,DO Communication with PLC.

so, Just contemplate Co'op with PLC
« Last Edit: April 09, 2017, 02:28:03 AM by Robtics »
ABB
FANUC
KAWASAKI
HHIR

I Can handle it!

April 10, 2017, 10:06:47 AM
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danielisrael


Thank You Robtics !!!!

I have a question. At one of my site, there is a strange problem.
Application: Pick and Place
Product: Hot spring

Issue: After processing DO3 =0, Robot waits for 2 to 3 mins (approximately). This phenomenon is observed occasionally.

Please find attachment for reference

What would be the reason for such behaviour?

Thanks and Regards
Daniel

April 15, 2017, 07:18:40 AM
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Robtics


Quote
S5   MOVE L,S=80%,A=0,T=1
   DO3=1 ' Signal Turn On "Mandrel Positon OK"
   WAIT DI2 ' Wating Singal "Possible Unloading from mandrel"

It's simple problem.

"WAIT DI2" instruction wait only DI2 signal "Rise (on = 1)" status.

so, you should better check PLC or some Proximity sensor status.

and I hope change that instruction like as a "WAIT DI2=1" ...

April 15, 2017, 12:28:31 PM
Reply #4
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danielisrael


Thank you for spending your time.
Factory maintenance engineers said, they checked PLC and sensor signals.
They are working good. They insisted to check program in Robot's teach pendant

Thanks and Regards
Daniel


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