in the near future I have to programm an UR3e that will be controlled by a Beckhoff PLC via ProfiNet.
I read the ProfiNet-Documentation and implemented the communication between the Robot and PLC.
Actually everything is running - means it is possible to read/write all the Process Data on the PLC.
On the Robot I wrote a small default program for testing and configured the Signals for Remote Control as follow:
GP_bool_in => Start
GP_bool_in => Stop
GP_bool_in => Pause
GP_bool_in => Freedrive
GP_bool_in => Auto start the default program in the Run Tab
GP_bool_in => Auto brake releas the Robot
GP_bool_out => Low when Program is not running
GP_bool_out => High when Program is not running
GP_bool_out => High when Program is running
From the Process Data the PLC can read the State of the Robot:
0 = Disconnected
1 = Confirm_safety
2 = Booting
3 = Power_off
4 = Power_on
5 = Idle
6 = Backdrive
7 = Running
And some other Flags:
AOM = Analog output mask
AOT = Analog output types
ES = Is emergency stopped
FT = Is fault
NO = Is normal mode
PB = Is power button pressed
PR = Is program running
PS = Is protective stopped
PW = Is power on
RC = Is recovery mode
RD = Is reduced mode
RES = Is robot emergency stopped
SES = Is system emergency stopped
SS = Is safeguard stopped
SSM = Speed slider fraction mask
ST = Is stopped due to safety
TAIT = Tool analog input types
TB = Is teach button pressed
TDI = Tool digital inputs
TDO = Tool digital outputs
TDOM = Tool digital output mask
Now, my Question. How looks the Handshaking of the Input/Output-Signals to start the Robot remotely in a very reliable way and without using of the Dashboard-Server?
I have problems to start the robot after turning on the controller. The default programm doesn't start everytime - but sometimes. I think there is a timing issue...
In the past I programmed a lot of Applications with ABB, Kawasaki or KUKA an I had diagrams like that:
Is there something similar for the UR?
Thanks in advanced and best regards...