I would like to send a new position via profibus from a PLC towards an ABB. With Profibus I can send 16 bytes input so not much, but I think enough to only send the X,Y and Z coordinates the angles and orientation.
Normally RAPID responses to:
CONST robtarget p15 := [ [600, 500, 225.3], [1, 0, 0, 0], [1, 1,0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
A position p15 is defined as follows:
• The position of the robot: x = 600, y = 500 and z = 225.3 mm in the object coordinate
• The orientation of the tool in the same direction as the object coordinate system.
• The axis configuration of the robot: axes 1 and 4 in position 90-180°, axis 6 in position
• The position of the external logical axes, a and b, expressed in degrees or mm
(depending on the type of axis). Axes c to f are undefined.
The last blok doesn't consern me, but i would like to make the first three blok variable so I can send them from a device over Profibus to the ABB and let it move towards this position.
Anyone who did something similar, or had a better idea?
Thanks! Best regards,