I'm doing a senior design project at RIT. We wired the 50 pin CRMA58 connector to use the digital I/O's with our PLC and other inputs and outputs such as sensors and conveyor belts. I am having an issue where we connect a sensor and the sensor works, but we cannot get it to display on the teach pendant. I am unfamiliar with the what the rack and slot number should be in order to verify the sensor that we are testing. Would anyone know/be able to explain this to me and walk me through this?
LR Mate 200ic w/ R-30iA Mate Controller CRMA58 I/O
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jrd7052 -
March 20, 2014 at 6:49 PM -
Thread is marked as Resolved.
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Hi
I"ll tell you what you have there and maybe after that you can figure the rest out.81 to 88 means 8 inputs. You will see the first one at DI21
101 to 120 means 20 inputs You will see the first one at DI01
So, if you put it together you have 28 inputs from DI01 to DI28I dont know why Fanuc auto configured them like that.
I would arrange them like, if you do start deleting or modifying from last line , then go up
DI (1 - 28) 48 1 1
Di (29 - 512 ) 48 0 0 -
I have my students interface SLC 500's into our Lr-mates often. To see the signal typically we will go to TP Digital I/O, find the associated pin (for instance D/I 101) to see it toggle with the sensor. If this is what you are doing and do not have a signal on the TP, but have a signal on the PLC I/O then you may not have interfaced correctly. You must hava a common reference voltage on the Robot and the signal, depending on the sensor this could require a relay. Sorry if I misunderstood your application.
M
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Rich195,
Yes, essentially we hooked up a sensor which has a light on it indicating when it is detecting something, but the status does not change on the TP.
What should we connect on pins #19 (SDICOM1) and pin #20 (SDICOM2). If those pins are dependent on the Inputs we use, for example if our sensor is PNP aka sourcing, then we would need to connect +24 Vdc on those pins and IF our sensor is NPN aka Sinking then we would need to connect 0 Vdc in those pins. Is this correct?
Additionally what are the roles of pin #31,32 (DOSRC1) since the manual states that " DOSRC1, DOSRC2 pins of the CRMA 15 and CRMA 16 are pins for supplying power to drivers (cannot be left open) "
Thanks!
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Hi Jrd, today I will take a picture of the back of the connector and post some sort of wiring diagram too.
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I took a picture to show connection of 1 input and 1 output on a 50 pin Honda connector. It is wired for a single PNP inductive proximity sensor on DI103, and an infrared vision light on DO101. It’s hard to see so I will try and explain more clearly below.
PIN 1 thru 9 are for digital inputs D101-D109. The common for this group of inputs is SDICOM1, PIN 19. Therefore to connect a PNP sensor to any input within this group you would connect the SDICOM1 (PIN 19) to 0vdc (PIN 17 or 18). Thus to connect a NPN to any input within this group you would connect SDICOM1 (PIN 19) to +24vdc. You would then connect your sensor signal wire to a digital input pin of your choice within the group and connect your 0 and 24vdc sensor wires.
For example, to connect your sensor to DI103, Connect the +24V sensor wire, typically brown, to PIN 49 or 50, and the sensor signal wire, typically black, to PIN 3. Connect the ground sensor wire, typically blue, to PIN 17 or 18. Turn on your machine and on the TP navigate to digital I/O, select Inputs, and go watch your sensor work.
PIN 9 thru 16 are for digital inputs D109-D116 and PIN 22-25 are for digital inputs D117-D120. I have no idea why they broke this group up but notice the pins are not sequential. The common for this whole group of inputs is SDICOM2, PIN 20. Therefore to connect a PNP sensor to any input within this group you would connect the SDICCOM2 (PIN 20) to 0vdc (PIN 17 or 18). Thus to connect a NPN you would connect SDICOM2 (PIN 20) to +24vdc. Connect your sensor as above
Remember the general rule with PLC’s or when interfacing sourcing and sinking devices is “Do the opposite”. Meaning, if the sensor is PNP it connects to NPN and vice versa. In the above explanation you can see that when we connect the common of the controller to a sink we use a PNP sensor and if we source the common in the controller we need an NPN. Here we usually jump the 0vdc together and do the same with +24vdc and also the SDICOM1 and SDICOM2 since we usually try to use all the same type of sensor. Of course you can use both PNP and NPN sensors if you split your COM1 and COM2.
I don’t know if your robot is on a CERT CART or not, but I connected all 50 wires into the connector and then ran the other end of the cable out into the cell where I connected them to terminal blocks. Now you can simply connect any sensors or outputs up in the terminal block. This allows very easy connections without soldering every time you make a change or add something. It is also much easier to test points when something does not work. Remember don’t go over about .2 amps draw. With the terminal blocks it’s easy to connect micro relays and drive the coil with the robot outputs. Isolating voltages between systems is always a good practice.
Hope this helps your understanding and solves the problem.
Rich -
Thank you for the explanation! We actually had done what you suggested from the get-go and wired all 50 pins into a block. We managed to get the inputs squared away and to get our sensor to display as "on" on the teach pendant. Now we are having difficulty with sending the output signal from the Fanuc to the PLC input. Do you think this is because the PLC and Fanuc both have their own power supply? Both are 24V but are not connected to the same circuit.
Thanks again!
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Hi jrd7052 ,
The robot will source the PLC's +24 back to it for all inputs. This means that you must supply a +24vdc and 0vdc that is common to both the PLC input card as well as the robot's output section. Technically, you can get +24 from somewhere else that is separate from the PLC, but you still need the common 0vdc at minimum. The robot output will not supply its own voltage to the output points.
Typically the robot outputs are optically isolated to prevent catastrophic damage from occurring to the robot's computer if you were to accidentally connect 120vac to the robot's IO. I have seen this done, wasnt pretty.
Hope this helps.
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As chipprog mentioned you will need to supply output power if you are running more than a few LED’s or something else very, very small. Fanuc factory connects their Banner 24V vision camera directly to the connector when they ship it assembled but I do not know what that draws. I use a Rino Din rail mounted power supply to supply power the robot outs and the PLC. If you need to use separate power supplies for different voltages between systems, use a small relay for the handshake. Using a relay you can also source or sink the PLC module
Rich
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Thank you all for all of the help and feedback on this topic. We managed to get everything working the way we need it to.
Thanks again!
- Josh
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Hi!
Can someone upload a pinout diagram of this CRMA58 connector?