How to attatch a laser to a dx100 and create a job that turns it on/aff

If you are talking about a laser which is a sensor or something, ok. BUT, if you are talking about high power laser for welding or cutting, you should have it in your CIO ladder so that if the robot stops because of a fault or ANY interruption, including e-stop it needs to turn OFF. At the minimum, have a safety circuit that will interrupt your output power, thereby turning the laser off.

Sorry, I actually never use it, but I am sure there are many here who do and would be glad to help you out.

An 80 watt laser is not low power. A low power laser has a class two rating or lower.

Hello,

I work with ladder programm. But you really schould know what you do in ladder.

I'd prefer a course from yaskawa before you work with ladder programm.

If you know the basics I can help you with ladder programm.

Generally in Ladder you can handle whole In- and Outputs of robot, also special signals like Servo on, Running, or in which cube the Robot is. It is the internal SPS of the robot.

For your project, you have to set Registers or Outputs to tell the Ladder programm switch on/off Laser,

but if robot not running or safety-fence open always switch off the Laser.

Also Ladder Editor on the controller is a paid option. Do you have it?

Quote from jba

I never said it was low power. I said it was not a high power laser as I know lasers for steel are 4000W+. That being said I have read about laser classes and a 80W laser is in one of the highest classes.

For visible-light lasers, Class 4 lasers' have an output power 500 milliwatts and above. There is no upper limit for Class 4 -- this is the most hazardous laser classification.

It's kinda like being shot in the temple with a .22 versus a 50 cal, both will kill you dead. I've met people who have lost part of their vision to a class 3 laser; lasers are not to be underestimated, even the reflections off of matte surfaces can be dangerous.

OK everyone, I think that we are all in agreement that we need to be safe with the laser. Could someone please provide him some help to set up his CIO to make it safe?

Here is what I can advise you regarding conditions that you must consider: Motors are ON, NOT faulted, program IS running, NOT E-stop or Auto Stop (of course motors would be off if this is the case) and probably use a pseudo output in your job which ties into all these other conditions to turn on the real output to turn on the laser. Like how in ABB we would set up our cross connections.

Why do you want the on and off instructions in separate Jobs? I think its more visual to have the instruction directly in the program.

MOVL

MOVL

DOUT OT 12 ON Laser ON

MOVL

MOVL

DOUT OT 12 OFF Laser OFF

Or you could use a while command
Might be wrong here

While D001 =1 AND (IN for servo on) = ON

DOUT OT12 ON Laser ON

MOVL

SET D001 1 (laser should turn on)

MOVL

MOVL

MOVL

SET D001 0 (laser should turn off)

MOVL

MOVL

SET D001 1 (laser should turn on)

MOVL

MOVL

MOVL

SET D001 0 (laser should turn off)

END WHILE (disables the function)

It could be worth a try instead of messing with the Ladder

Quote from jba

The program is generated by some software(robodk) and currently we do not have the coding skills required to change the post processor which generates the program.

But you were able to write your M3 and M9 jobs? It is basically the same. The command you wrote in M3 (DOUT OT#(12) ON) can simply replace the "CALL JOB:M3". Same with the OFF command and M9.

This doesn't mean you can't use separate jobs for the turning on and off off the laser... All I'm trying to say is that, if you have no-one to your avail who is familiar with programming ladder, and your programming skills are indeed what you say they are, I would highly try to discourage you to change the ladder program yourself.

I think that in your situation, it is more feasible to go with a hardware solution instead of software. My suggestion would be to install 2 safety relays. One to interrupt the laser when opening the safety gate and one to turn off the laser when there is no "RUNNING" signal.

The "RUNNING" signal should be readily available at your controller's connection terminals. Beware however that this output could have been replaced with something else by changing the ladder program. The as-built schematics of your installation should contain all the information needed for a certified industrial electrician to implement this.

Question: do you have a procedure to go through when something goes wrong? Some kind of "reset job"? Because when something goes wrong when the laser is turned on, it should also return to the off state when the robot returns to its home position. So, one of the first lines in this reset job should be "DOUT OT#(12) OFF".

Quote from Enga

While D001 =1 AND (IN for servo on) = ON

DOUT OT12 ON Laser ON

MOVL

SET D001 1 (laser should turn on)

MOVL

MOVL

MOVL

SET D001 0 (laser should turn off)

MOVL

MOVL

SET D001 1 (laser should turn on)

MOVL

MOVL

MOVL

SET D001 0 (laser should turn off)

END WHILE (disables the function)

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This would not work for several reasons:

- the condition for the loop is only checked at the beginning (or at the return from "ENDWHILE")

- this also means that the loop would not be executed (considering D001 is 0 at the start of the loop)

- if servo is off, non-systemjobs wouldn't even be running (and movement is not possible in systemjobs)

- if conditions for the while loop are not met, nothing would happen to D001 since it is inside the loop.

- setting D001 to 0 (or to 1) would do nothing to the state of universal output 12.

If a systemjob is available (paid option), the turning off of output 12 in case of "servo off" (just to name 1 possible reason) could be performed from here. But systemjobs can be stopped, concurrent IO cannot.

STILL, THIS IS NOT A FAIL-SAFE SOLUTION!