Hi
I would like to start and stop robot from PLC ( via CC-Link protocol ). After configuration i tried to start and stop robot from PLC but robot is not responding. Am I missing something to configure?? PFA
Remote start and stop
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suganthyadav -
August 12, 2016 at 8:38 AM -
Thread is marked as Resolved.
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Hi,
To start in remote the robot needs 4 Input at ON:
- IMSTP
- HOLD
- SFSPD
- ENBLOn your robot SFSPD and ENBL are not active.
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Hi
Thanks for your reply. Yeah i know those signals should ON to run robot. Issue is , here UOP signals are inter linked with CC-link input. If cc-link input ON , UI signals should ON. But in my case UI signals not getting ON even after CC-link input is ON. y this is happening!!!?
Master : PLC
SLAVE : Robot
Communication protocol between master and slave : CC-link -
What do you mean by interlinked?
Are your UOP signals mapped to the CC-link signals in the I/O configuration? -
Yes Mr. Sergei . PFA for mapping details
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They looked configured correctly, going by the image you posted.
Does this robot have the PMC option? That option can directly drive the UOPs, and may be interfering with the CC-link signals. To find out if it does, there should be a PMC option under the TYPE menu in the IO area.
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Mr. Nation
Yeah robot have PMC option. But how can enable UI signals via PMC. For example UI 3 is fault reset. If i ON PLC's y100 , robots x121 will get ON ( via cc-link ). How can i turn ON UI3 by using pmc to reset fault ?? Basically we can on/off only outputs correct!!!!!? -
The PMC doesn't control if the UI signals are enabled or not, it just happens to be writing to them, along with the CC-Link. Since the PMC is internal to the robot, it is winning the write war.
First you need to determine if you need the robot's internal PMC, as right now it is fighting your commands from your external PLC.
You could just stop the PMC for now by going to PMC in the IO, and then hitting F3 for FUNC, and the stop it there. That's a short term solution though, as it will start again after a reboot. To stop it permanently you would have to go into the parameters and set the 'Stop PMC at startup' flag.
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I am using PMC for some other logic. I can't turn off PMC.
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No solutions
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1 option, put the PMC logic in your PLC, then turn off PMC.
2nd option, have PMC start the robot when the PLC turns on a DI.
The problem is, you have 2 masters and 1 slave. You need to pick 1 thing to be the master and it should be the only thing that controls the UOP.
Sent from my VS985 4G using Tapatalk
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Hi Mr.Hawkme
2nd option will fit me perfectly. Hope you read above chats. I have only one master , that is cc-last link. I configured UOP as per the manuals.Y robot is not responding?? please take a look on my attachments. -
Can you go to MENU--->SYSTEM---->CONFIG and check the item 43, it should be REMOTE and also there is another one called ENABLE UI SIGNALS, it should be TRUE.
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Hi Mr.Hawkme
2nd option will fit me perfectly. Hope you read above chats. I have only one master , that is cc-last link. I configured UOP as per the manuals.Y robot is not responding?? please take a look on my attachments.You still have two masters... The robot's PMC, and your PLC. They are currently fighting a write war, with the PMC writing the UOP to a low, while your PLC is trying to write it to a high. As HawkME said, you can't have two masters.
If you want the PMC to be the master, you will have to unassign the UOPs, and then control the UOPs from the PMC.
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Mr. Nation, Mr.Hawkme,Mr.Chris,Mr.egrohens. Issues solved. I made logic in PMC . For ex: If DI121 ON then ON G1000 ( UI ). . By default UI signals are assigned in "G1000.0 to G1002.0". System worked fine.. Once again thank you all for your time. Especially thank you Mr. Nation for your patience reply.