Good day.
I'm kind of a new to programming Fanuc robots and PLCs and I have little problem regarding connection of Fanuc robot to PLC via digital input/output.
We want to do some test on Fanuc ER-4iA and r-30iB Mate plus controller and Turck I/O module. At first I was hoping to get my hands on Profinet card for Fanuc but unfortunately I can't get it in reasonable time so we need to procced on this project without Profinet communication from robot to Siemens PLC.
We made I/O and SOP box for fanuc robot via CRMA15/16 so i was hoping to get few signals back and forth from robot to Turck I/O (8 digital i/o channels) module.
The list of I/O signals, as viewed form PLC first 4 are intended as inputs and last three as outputs :
- AUTO/MANUAL
- FAULT
- ON /OFF
- BUSY(in production)
- BIT 1 FOR PROGRAM SELECTION
- BIT 2 FOR PROGRAM SELECTION
- BIT 3 FOR PROGRAM SELECTION
First question is how should i wire digital inputs/outputs from Turck to robot? Should i connect digital outputs on Turck (BIT1,2,3 PROG selection) to digital inputs on robot and vice versa? Also i am not sure how to connect for example cable for BIT 1 (Turck output) on robot DI. I have 3 wires for that output so should i connect signal wire on DI120, GND wire on 0V (pin18) and 24V wire on DOSRC (pin29)?
Secondly i want to use the combination of BIT1,2,3 to select 7 possible programs on robot, i know i should use Style for such kind of operation, but i dont know how to manage this without inputing START or PROD_START signal. Is there some workaround to use Program start :$SHELL_WRK.$CUST_START instead and would you be so kind to explain?
Thank you for reading this and i am sorry for my bad english.
