Controlling Table Position From Controller

    Hello,

    I have a cell with 2 ArcMate 120's and 2 tables that rotate the large parts that need to be welded. I'm retrofitting this cell for a customer and it's running a GE Proficy PLC.

    The issue I have is when there isn't a program being scanned (robot isn't running) I have no way to move the fixtures into position for the operator to unload and load parts. Robot 1 controller controls 3 groups; The robot and the 2 servo motors that rotate tables A and B.

    I added buttons to the HMI and mapped DI's to the controller but I'm wondering if there is a way to call a program that will start scanning for those inputs.

    For example; DI 40 is mapped to my load position button on the HMI. If I have a program looping and press that button it'll move into position.

    My problem is when the cell is idle and the table needs to be moved, I'm dead in the water.

    Any and all ideas are welcome.

    Thanks in advance.

    1. You could have the PLC start a program on the robot using UOP

    2. Use a macro triggered by the DI


    How are you starting the robot program now? If by PLC and UOP then I prefer option 1 above. If by the green start button on the robot controller then option 2 may be easier.

    Sent from my SM-G930V using Tapatalk

    Thank you for your input!

    I'm in Roboguide looking into starting it from a UOP now. Like I said in the previous post, this is a retrofit and I was looking through the original PLC program and see that they were calling a maintenance position. I'm going to try and use that button on the HMI and have it call my table program.

    Hopefully that will get me out of this pickle.

    Also, I am starting from the PLC. This job was quoted by my company and the guy that quoted it was new to quoting and had no idea what this would entail. I'm praying that it'll be over after tomorrow!

    Thanks again.

    If you have differents group motions configured using robot with table (one for robot, and one for table, for example), you can configure differents group motions for each and move separately at the same time.
    When you create a new program in select - create, you will setup the group mask as (1,*,*,*,*) when you want to move jus the robot in this program. or (1,1,*,*,*) for robot and table moving or (*,1,*,*,*) when you want to move just the table.
    If you have differents kinds of group motion enabled (in this example, (1,*,*,*,*) and (*,1,*,*,*) ) you can call this program separately. You can configure, for example, the table moving to the operator load position as a Macro , using DI[X] to call it and returning as DI[Y], even if the robot is performing another operation.

    you can also write macros to jog the tables to any position you want. You would need a macro per axis per direction (so each axis would require 2 macros to jog it in 2 directions). Each macro should:
    1. get the table's current position: PR[a]=JPOS,
    2. increment/decrement (depending on the macro's function) the postion by a given step: PR[a,b]=PR[a,b]+c
    3. move the robot: J PR[a] 50% CNT5
    4. check the button's (DI) status and jump back to point 1 if ON or end the macro if OFF.

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