Basic UOP Question

    We have several Fanuc robots and only 1 uses UOP. I would like to start setting up future robots with UOP. I will be using a plc to turn on the "always on" signals. With the digital IO, I wire from output module of plc to input module of fanuc. Where do you send the wire for the UOP signals and what rack, slot, starting point do you configure?

    So I guess that the robot also has a DH+ interface - this should probably come with a manual? Anyway, apart from the communication config, the only difference in the IO Config scree should be the rack and maybe the slot number.

    And my advice is to separate the UOPs and the DI/DOs.

    Its sounds like there is not a physical terminal to wire send signal wires to turn on a uip. So does the fanuc get the signal through the dh+ cable that is connected from the devicenet module to the fanuc controller, and if so how do you determine what rack, slot to use on the uop config? Do you just pick any rack number that your not already using? And, on the devicenet side, I assume that there is a card that I need to get that, for example, that I can put in slot 1. In which case the address would be O:1.0/0 - O:1.0/15 which would turn on the UIP on the fanuc that is configured with the made up rack number. (Again, outdated devicenet. Hopefully, we'll join the rest of the world and start upgrading our technology soon)

    Am I even in the ballpark?

    I have written about this a few times. So, first you have to get the difference between the configuration of the digital input/output points exchange between the robot and the PLC (let's call it communication frame) AND the signal configuration of the robot.

    You have to configure the communication frame first. This means: an amount and type of signals exchanged altogether. Let's say you want to have 128 DIs, 128 DOs and the UOPs separated from the DIOs. This means, that you have to configure the communication frame for 128+32=160 input points and 128+32=160 output points. It's +32, because the amount of UOPs is 18/20, and the often the amount of signals that you can configure is x*16

    You configure them in the I/O Config screen, by giving the rack, slot and startpoint. Rack and slot numbers depend on the communication interface (for example rack 89/90 for EthernetIP Scanner/Adapter, 99/100 for ProfiNet Device/Master as far as I remember) and hardware configuration. You should be able to find the proper numbers in the Fanuc manual for your comm standard. I have never worked with DeviceNet, so won't be able to help here.

    Startpoint is where we get to the robot signal configuration - it's a place in the exchanged "frame" where the configured signals are placed.

    I usually do it like this:
    - UOP signals take the first 4 bytes of the frame (so startpoint 1 for UOs and UIs)
    - DIO signals take the following input/output points (startpoint 33 for DO[1-128] and DI[1-128]).

    So, physically the UO[1] is the 1st signal in the output frame, DO[1] - 33rd, etc.

    Hope this helps a bit...

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