Hi guys¡, how are you doing?
I am starting this new project in which we need to implement a pick and place robot.
- Robot: KR200/3 from 2003
- Controller: KRC2 from 2003
- MFC card
The working sequence of the system should be as follows:
1 - System is powered on from a switch.
2 - System stays in stand by waiting for product to come out from assembly machine into conveyor.
3 - Infrared sensor detects assembled product arriving to the conveyor
4 - Conveyor is activated and takes product into pinking area of robot
5 - Infrared detects that products reached pinking area and conveyor is deactivated
6 - Robot Picking and place sequence is triggered
7 - Robot return to its initial position
This is a very shot description of how the system should operate
Questions
* For communications with peripherals; sensors and actuators, errors management and monitoring of variables , do I need a PLC as a master or this can be accomplished with a devicenet coupler as a slave connected to a MFC card? In case of PLC, what communication protocol is recommended? I am thinking of a PLC Siemens S7-1500. I have seen that S7 PLC work well with profibus but it requires additional board which is quite expensive.
* I want the whole system to startup automatically by turning a switch to one. For this I need to change the routine SPS-SUB?
* Interruptions: If emergency button is pressed, robot should come to full stop, and after rearm, robot should home safely.