I'm a bit lost here.. I've done some Fanuc programming before but now I'm doing my first robotprojekt by from scratch. I'm starting a project and are currently trying to figure out how to configure and organize different tasks in the PCM/Robot.
The big questions is how much of the control tasks i should place in the PMC. The application will require a lot of conditions depending on timers, controlsignals from a DCS system, etc. I will need a sequence that CALL different Robot tasks to be done depending on various conditions and logics.
One option could be to make one big "Main loop program" in the robot and just use simple I/O communication from the PMC to trigger these tasks. And use the PCM like a more complex BGlocig and for Starting, aborting and errorhandling of a few PNS programs.
The other option would be to put this "main sequence loop" in the PMC and a lot of the logic conditions too.
I never worked with the PMC before. Would you say it is userfriendly enough to use it for bigger programs and sequence handling? If i was using a Siemens PLC i would probably go for the first alternative for this application.
One thing is a bit special with this application. Due to the work that the robot is performing, we know that it sometimes will stop due to unpredicted loads on the tool and it should be able to "Autorecover" from these states.
Thanks in advance/M