Send position via Profibus (RAPID)

Dukel · Dec 20th 2016

Hi all,

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
system.
• 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
0-90°.
• 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,

Dukel

saberlars · Dec 21st 2016

Di01_Sign_X (On -, Off +)
Di02_Sign_Y (On -, Off +)
Di03_Sign_Z (On -, Off +)

Gi01_Offset_X (mapping useful above 6point)
Gi02_Offset_Y (mapping useful above 6point)
Gi03_Offset_Z (mapping useful above 6point)

MODULE mainmodule
var num nOfs_X;
var num nOfs_Y;
var num nOfs_Z;

var robtarget pPos_Control;
CONST robtarget pOrigin := X,Y,Z,rX,rY,rZ,Ext1~8 ......

PROC test()

WaitUntil Gi01_Offset_X <> 0;
WaitUntil Gi02_Offset_Y <> 0;
WaitUntil Gi03_Offset_Z <> 0;

nOfs_X := Gi01_Offset_X;
nOfs_Y := Gi01_Offset_Y;
nOfs_Z := Gi01_Offset_Z;

IF Di01_Sign_X = 1 THEN
nOfs_X := nOfs_X * (-1);
EndIF
IF Di02_Sign_Y = 1 THEN
nOfs_Y := nOfs_Y * (-1);
EndIF
IF Di03_Sign_Z = 1 THEN
nOfs_Z := nOfs_Z * (-1);
EndIF

pPos_Control := pOrigin(\Wobj:=wobj0\Tool:=tool0);

MoveL Offs(pPos_Control, nOfs_X, nOfs_Y, nOfs_Z), v500, fine, tool0;

Return;
EndProc
EndModule

did u meaning coordinate data control by PLC ?

Dukel · Dec 21st 2016

Thank you Robtics,

This look good, but is get the following error: (Identefier not found: pOrigin)
at the line that says pPos_Control := pOrigin(\Wobj:=wobj0\Tool:=tool0);
Any idea what cost this error?

This could be an solution it think, but here I will send only the displaysment from the last position, is it also possible to send a hole new position.
So that my plc sends a whole new complete robtarget.

Dukel

Dukel · Dec 22nd 2016

Quote from Dukel

Thank you Robtics,

This look good, but is get the following error: (Identefier not found: pOrigin)
at the line that says pPos_Control := pOrigin(\Wobj:=wobj0\Tool:=tool0);
Any idea what cost this error?

This could be an solution it think, but here I will send only the displaysment from the last position, is it also possible to send a hole new position.
So that my plc sends a whole new complete robtarget.

Dukel

Display More

I solved the error by just replacing: pPos_Control := pOrigin(\Wobj:=wobj0\Tool:=tool0); in:
pPos_Control := pOrigin(\Tool:=tool0\Wobj:=wobj0);

I have created a new program with the (X, Y, Z), (q1,q2,q3,q4) and (cf1,cf4,cf6,cfx) as variable

VAR num nOfs_X;
VAR num nOfs_Y;
VAR num nOfs_Z;
VAR num LastPos_X;
VAR num LastPos_Y;
VAR num LastPos_Z;

CONST robtarget pOrigin:=[[928.61214857,0,1412.499981377],[0.49999989,0,0.866025467,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
VAR robtarget pPos_Control;
VAR robtarget CPos;

VAR robtarget vPos;

CONST robtarget Target_10:=[[928.61214857,0,1412.499981377],[0.49999989,0,0.866025467,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_20:=[[1120.699649084,-29.007355691,1148.636699382],[0.481553049,-0.328651141,0.549984387,-0.598006909],[0,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_30:=[[1068.435053259,-402.961343167,1317.118306823],[0.563350561,0.584925592,0.493479124,0.311410584],[-1,-1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_40:=[[1194.797421983,-442.941230281,1060.721714594],[0.828756098,0.03481388,0.53081964,-0.173729194],[-1,-1,-5,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Target_50:=[[1258.427582426,-144.040360816,1042.64291247],[0.781453212,0.398154415,0.480416958,0.00186723],[-1,0,-5,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROC Main()
!Wait for digital ouput to be low
WaitUntil Di12_Set = Low;

!Go to home position
MoveJ pOrigin,v100,z10,tool0\WObj:=wobj0;

!Waits until the robot and external axes have reached stop point or have zero speed
WaitRob \ZeroSpeed;

!Test program for variable position
Teste;

ENDPROC

PROC Teste()
!Waituntil Do01_Set = high;
!MoveL Target_80,v1000,z100,tool0\WObj:=wobj0;
!CPos := CRobT(\Tool:=tool0\WObj:=wobj0);

!Change the sign of an input
IF Di01_Sign_X = 1 THEN
nOfs_X := nOfs_X*(-1);
ENDIF
IF Di02_Sign_Y = 1 THEN
nOfs_Y := nOfs_Y*(-1);
ENDIF
IF Di03_Sign_Z = 1 THEN
nOfs_Z := nOfs_Z*(-1);
ENDIF
IF Di04_Sign_Q1 = 1 THEN
nOfs_X := nOfs_X*(-1);
ENDIF
IF Di05_Sign_Q2 = 1 THEN
nOfs_Y := nOfs_Y*(-1);
ENDIF
IF Di06_Sign_Q3 = 1 THEN
nOfs_Z := nOfs_Z*(-1);
ENDIF
IF Di07_Sign_Q4 = 1 THEN
nOfs_X := nOfs_X*(-1);
ENDIF
IF Di08_Sign_cf1 = 1 THEN
nOfs_Y := nOfs_Y*(-1);
ENDIF
IF Di09_Sign_cf4 = 1 THEN
nOfs_Z := nOfs_Z*(-1);
ENDIF
IF Di10_Sign_cf6 = 1 THEN
nOfs_X := nOfs_X*(-1);
ENDIF
IF Di11_Sign_cfx = 1 THEN
nOfs_Y := nOfs_Y*(-1);
ENDIF

!Create variable position (Translation (X,Y,Z), Rotation (q1,q2,q3,q4), RobotConfiguration (cf1,cf4,cf6,cfx))
vPos:=[[Gi01_Offset_X/100,Gi02_Offset_Y/100,Gi03_Offset_Z/100],[Gi04_trans_Q1/100,Gi05_trans_Q2/100,Gi06_trans_Q3/100,Gi07_trans_Q4/100],[Gi08_conf_cf1,Gi09_conf_cf4,Gi10_conf_cf6,Gi11_conf_cfx],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

!Move towards variable position with Joint movement
MoveJ vPos,v100,z100,tool0\WObj:=wobj0;

Teste;

ENDPROC

I have given the X, Y and Z 16bits, so they have a maximum value of 131071 that is divided by 100 to get a precision of a hundredth.
The q1,q2,q3 and q4 all have a maximum value of 1023. I also divide them by 100 for the precision.
The last 4 variables cf1,cf4,cf6 and cfx have a maximum value of 7

Now I get this error:

40222: Limit error
Description
Task T_ROB1: Execution stack overflow.
Actions
The program is too complex to execute. Probably the program contains recursive routines.

Anyone have an idea or a better solution?

Loipe · Dec 22nd 2016

Hello

first of all

Code

FUNC num RealWord(VAR signalgi giRead, VAR num nDec)
    !
    ! Get signed integer from 16bit (bits 0-15) group input.
    ! Bit 15 is the sign bit, so values equal or bigger than 32768 are negatives
    ! and needed to be converted to corresponding negative decimal value

    VAR num notation;
    VAR num value;


    ! There are 2 interpretations for negative binary numbers.
    ! Select which notation to use for negative binary numbers.
    ! notation:=1 -- sign magnitude notation - Returned values are between -32767 to 32767
    ! notation:=2 -- two's complement notation - Returned values are between -32768 to 32767
    notation:=2;


    ! Get the integer value from group input (from PLC)
    value:=0;
    value:=GInput(giRead);
 
    ! Convert unsignad integer to the signed integer according the notation used by PLC
    IF notation=1 THEN
      ! Sign magnitude notation
      ! bit15 is sign bit, otherwise same as positive binary numbers
      IF value>32767 THEN
        value:=32768-value;
      ENDIF
    ELSEIF notation=2 THEN
      ! Two's complement notation
      ! bit15 is sign bit, negative values are inverted and added 1
      IF value>32767 THEN
        value:=value-65536;
      ENDIF
    ELSE
      ! Notation not set.
      ! Return value as it is read.
    ENDIF
    Value:=value/nDec;
    RETURN value;
    !
  ENDFUNC

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and for dnum

Code

FUNC dnum RealDWord(VAR signalgi giRead, VAR num nDec)
    !
    ! Get signed integer from 32bit (bits 0-31) group input.
    ! Bit 32 is the sign bit, so values equal or bigger than 2147483648 are negatives
    ! and needed to be converted to corresponding negative decimal value

    VAR num notation;
    VAR dnum value;


    ! There are 2 interpretations for negative binary numbers.
    ! Select which notation to use for negative binary numbers.
    ! notation:=1 -- sign magnitude notation - Returned values are between -2147483648 to 2147483648
    ! notation:=2 -- two's complement notation - Returned values are between -2147483649 to 2147483648
    notation:=2;


    ! Get the integer value from group input (from PLC)
    value:=0;
    value:=GInputDnum(giRead);
 
    ! Convert unsignad integer to the signed integer according the notation used by PLC
    IF notation=1 THEN
      ! Sign magnitude notation
      ! bit15 is sign bit, otherwise same as positive binary numbers
      IF value>2147483648 THEN
        value:=2147483649-value;
      ENDIF
    ELSEIF notation=2 THEN
      ! Two's complement notation
      ! bit15 is sign bit, negative values are inverted and added 1
      IF value>2147483648 THEN
        value:=value-2147483647;
      ENDIF
    ELSE
      ! Notation not set.
      ! Return value as it is read.
    ENDIF
    Value:=value/nDec;
    RETURN value;
    !
  ENDFUNC

Display More

then you can change the code in teste to the following
will cut out checking sign and the quite long line with vPos:=[[Gi01_Offset_X/100,Gi02_Offset_Y/100,Gi03_Offset_Z/100],[Gi04_trans_Q1/100,Gi05_trans_Q2/100,Gi06_trans_Q3/100,Gi07_trans_Q4/100],[Gi08_conf_cf1,Gi09_conf_cf4,Gi10_conf_cf6,Gi11_conf_cfx],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
you could also send euler angles and transform it in one line into orient. i left it in there as comment.
dnum just change the function call from "RealWord" with "RealDWord"
and i personal just use a Precison of 10 because the robot isnt even precise enough for 100

Code

vPos.trans.X:=RealWord(Gi01_Offset_X,100);
  vPos.trans.Y:=RealWord(Gi01_Offset_Y,100);
  vPos.trans.Z:=RealWord(Gi01_Offset_Z,100);
  !!vPos.rot      := OrientZYX(RealDWord(Gi01_Offset_A,100),RealDWord(Gi01_Offset_B,100),RealDWord(Gi01_Offset_C,100));
  vPos.rot.q1 := RealWord(Gi01_Offset_Q1,100);
  vPos.rot.q2 := RealWord(Gi01_Offset_Q2,100);
  vPos.rot.q3 := RealWord(Gi01_Offset_Q3,100);
  vPos.rot.q4 := RealWord(Gi01_Offset_Q4,100);
  vPos.robconf.cf1 := RealWord(Gi01_Offset_conf_cf1,1);
  vPos.robconf.cf4 := RealWord(Gi01_Offset_conf_cf4,1);
  vPos.robconf.cf6 := RealWord(Gi01_Offset_conf_cf6,1);
  vPos.robconf.cfx := RealWord(Gi01_Offset_conf_cfx,1);

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Greets Loipe

saberlars · Dec 22nd 2016

Quote

This look good, but is get the following error: (Identefier not found: pOrigin)
at the line that says pPos_Control := pOrigin(\Wobj:=wobj0\Tool:=tool0);

becuz I didn't describe perfect module and routine.
that error meaning "Must identify data". so, You just create and define data or types.

I hope help my concept for you. thats all ~

Quote

40222: Limit error
Description
Task T_ROB1: Execution stack overflow.
Actions
The program is too complex to execute. Probably the program contains recursive routines.

Mainmodule -> Main -> call routine "Teste" -> call again "Teste" -> Execution stack overflow !

Main is parents.
and other routine is child right?

Memory already called "Teste". so, cannot call same routine.

Send position via Profibus (RAPID)

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