Gentelmen,
I have a need to pass a dual channel "safe" signal to my plc when the robot is within a particular zone. I have DCS capability but are currently using all of the OPSFTY inputs. So my question is, is there a way to activate one of the ESPDO outputs based on robot position? I am looking at the ESPDO signals because they would be valid signals in my safety plc program and that is where I can conditionalize the stoppages.
Safe Output from Robot to PLC
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tjpterryp -
June 17, 2013 at 4:55 PM -
Thread is marked as Resolved.
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Setup up a DCS zone as Status only to monitor the area you want. Then use Safe I/O Connect to drive the ESPDO1 by the status of your DCS zone.
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Thanks for the reply PMC. I am currently offsite and working with the onsite techs to try and facilitate this fix. After reading about the ESPDO signals in the Fanuc manuals I came up with exactly what you are talking about. I proposed this solution to our Robot Integration contractor. He is trying to see if it can be done offline also by using Simpro. The only question I have from the manual information is, can the CPC status actually be used to control ESPDO? The examples in the manual only refer to the SSI signals.
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The CPC can control the ESPDO output by using Safe I/O Connect; SPO[1]=CPC[1].
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Again, I appreciate your help with this. Last question. Does the CPC[1] point to the number of the DCS zone I have configured? So if I have a second zone to control ESPDO #2, would I use SPO[2]=CPC[2 or whatever number is assigned to this zone] ?
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You got it.
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Just add something:
I guess when you talked bout DCS capability, you meant DCS position and speed check.
To relay a signal to SPO, you need an option DCS safety IO connect. It is sold separately.
With it, you can build NOT, AND, OR logic with the safety signals. The explanation in DCS manual is pretty straight forward.