Is there some one who knows how to connect 2 R30ibplus robots?
Robot ring
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Vadimas -
January 17, 2019 at 11:09 AM -
Thread is marked as Resolved.
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What kind of connection?
Do you want to use them i Dual-Arm configuration with one teach pendant?
Then you need to buy some options and hardware from Fanuc.If you just want to share some IOs you could connect them with any kind communication.
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Hi,
I will use 2 robots in 1 aplication.
1 Robot will pick a part, and put it in certain position.
2 Robot will pick a part from that certain position and put it in conveyor.It will look similar to that aplication:
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This kind of application can be done with Dual-Arm configuration (2 robots, one controller, 1 TP) or with 2 Single-Arm configurations (2 robots, 2 controllers, 2 TPs).
I prefer using Dual-Arm, as simplifies programming.
I think you could use Intelligent Interference Check option from Fanuc to prevent collisions.
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Is it need to use both? Dual arm and intelligent interference check?
I will have 2 controllers and 2 Teach pendants -
Is a PLC controlling the cell? Use interference zones.
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Yes 1 PLC
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HI
If you have a PLC just do a lot of communication between the robot through itTell each robot where they are, where they are not, if the gripper if open or close, double the amount of interface, who cares, you have hundreds of I/O to play with.
Involves a bit more programming but is all using commands DO[xx]=ON or OFF and WAIT DI[yy] to be ON or OFF
Use the PLC just to pass the communication
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Thanks for advice and i will use it as well, but however i have opportunity to use something from RG softs for a new experience.
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dha suggested IIC and that is something we are using on a number of dual robot cells with a common RTU. You probably don't need the RTU related option but here is what I found on the controllers for options:
R759 - IIC
R783 - IIC DSP Support
R603 - ROS Ethernet Packets (data is exchanged over a direct Ethernet connection between the two controllers)
R773 - IIC Railzone (probably not necessary for your application) -
Personally I have setup multiple robots working in the same are with nothing more than reference positions being used, and another bit for each saying they are going to a reference position.
Theses 3 robots have 3 potential crashing locations.
1. The pallet where they pick up parts.
2. The laser where the part is processed.
3. The flow tester where the Epson robot is.Before each move the robot checked if the other robot's going to location bit was on. If it wasn't then the robot checked if the other robot was at the location it is going to goto. If both checks cleared then it would turn on it's bit showing the is was going to the location. It would wait until each of the test was successful before moving.
Below is a video of this system in action. The parts have been blurred out for NDA reasons.
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Great, thanks, what kind of communication between robots is used?
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Your robots are connected to the PLC, you use the PLC like the police would direct traffic. One robot requests to enter the area of interference. The PLC checks the other robot to see if it is clear. If so, the PLC grants the permission to enter the area. When the robot enters the area, it will turn the clear bit off. For safety, you should turn it off, not on, because if one robot controller gets shut down while it is in the interference area, it will be assumed to be not clear because the signal for clear is not on.
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Your robots are connected to the PLC, you use the PLC like the police would direct traffic. One robot requests to enter the area of interference. The PLC checks the other robot to see if it is clear. If so, the PLC grants the permission to enter the area. When the robot enters the area, it will turn the clear bit off. For safety, you should turn it off, not on, because if one robot controller gets shut down while it is in the interference area, it will be assumed to be not clear because the signal for clear is not on.I think what the last part of is trying to say is when a bit is asserted or high is a safe condition. So you turn the bit off (signal low) to indicate that a robot is in the interference zone. Using this method allows for a robot being off to be in all interference zones at the same time since all of it's outputs are low.
In my setup signal high is the NOT in that location. I also inverted the bits and logic so when looking at the I/O on is shown when the signal is not present. My setup also used data transfer between robots (J740) so I could transfer position registers and data registers. However data transfer between robots was not used for safety checks only for remembering which parts were taken off the pallet so the robots didn't check a spot the other robot already had.