Can anyone tell me the importance of DI, DO in Hyundai Robot.
In manual I see DO - Digital Output signal for the system(open collector output)
DI- Digital input signal for the system
DI, DO in Hyundai Robot
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danielisrael -
April 6, 2017 at 6:10 AM -
Thread is marked as Resolved.
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' ValveBody Pickup
' - Prog No : 0010.JOB -
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WAIT DI9=1 ' InC/V Pickup Grant
DO9=0 ' InC/V Interference Off
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S1 MOVE P,S=100%,A=7,T=1 (0.003,602.654,1302.587,-89.381,2.033,0.020,&H0040)
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S2 MOVE P,S=80%,A=3,T=1 (39.218,770.831,950.000,-92.398,-0.201,-0.258,&H0008)
S3 MOVE L,S=50%,A=1,T=1 (39.222,770.833,550.000,-92.398,-0.199,-0.258,&H0008)
S4 MOVE L,S=20%,A=0,T=1 (39.242,805.942,294.499,-92.395,-0.205,-0.262,&H0008)
CALL 91 ' Gripper Clamp
S5 MOVE L,S=20%,A=1,T=1 (39.238,805.943,350.000,-92.395,-0.204,-0.262,&H0008)
S6 MOVE L,S=80%,A=5,T=1 (39.238,805.942,950.000,-92.395,-0.204,-0.262,&H0008)
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S7 MOVE P,S=100%,A=7,T=1 (0.003,602.654,1302.587,-89.381,2.033,0.020,&H0040)
DO9=1 ' InC/V Inteference On
PULSE DO11=1,Ton=2,Toff=0.5,CNT=1 ' InC/V Pickup DoneThis is Sample program for Basic Handling.
Yep, DO (Digit Output) is send signal status (On or Off) to PLC unit.
DI (Digit Input) is Receive Signal from PLC unit.And discuss IO_List with PLC programmer.
look my attached jpg file.When your Automation Component without PLC, you don't have to use DI, DO signals... maybe?
but, almost Industrial Robot Connected PLC.becuz DI, DO is related Promise with PLC.
Grant, Done, Requst... and How to Start the Robot? How to STOP the robot?
all steps dependence DI,DO Communication with PLC.
so, Just contemplate Co'op with PLC
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Thank You Robtics !!!!
I have a question. At one of my site, there is a strange problem.
Application: Pick and Place
Product: Hot springIssue: After processing DO3 =0, Robot waits for 2 to 3 mins (approximately). This phenomenon is observed occasionally.
Please find attachment for reference
What would be the reason for such behaviour?
Thanks and Regards
Daniel -
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S5 MOVE L,S=80%,A=0,T=1
DO3=1 ' Signal Turn On "Mandrel Positon OK"
WAIT DI2 ' Wating Singal "Possible Unloading from mandrel"It's simple problem.
"WAIT DI2" instruction wait only DI2 signal "Rise (on = 1)" status.
so, you should better check PLC or some Proximity sensor status.
and I hope change that instruction like as a "WAIT DI2=1" ...
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Thank you for spending your time.
Factory maintenance engineers said, they checked PLC and sensor signals.
They are working good. They insisted to check program in Robot's teach pendantThanks and Regards
Daniel