hello everyone
Can we take Fanuc robot r30 ia/ib variables in Mitsubishi PLC???
hello everyone
Can we take Fanuc robot r30 ia/ib variables in Mitsubishi PLC???
Which variables do you want? Are you reading or writing? What communication protocols does your PLC support?
Which variables do you want? Are you reading or writing? What communication protocols does your PLC support?
Thanks for your reply
I want to take robot data like torque value of different axis to PLC.
My PLC is Mitsubishi make and I am using communication through ethernet and can also use d-net.
You must select a protocol that is compatible with both your PLC and the robot. Then you must purchase that option for the robot.
After you do that you could use a BG Logic program to store the torque values into registers, then read those registers with your PLC.
I also have similar query.
I had tried to move $MOR_GRP[1].$MAX_DIS_TRQ[x] and $MOR_GRP[1].$MIN_DIS_TRQ[x] values into R data registers and run in BG Logic
R[a]=$MOR_GRP[1].$MAX_DIS_TRQ[x]
R[b]=$MOR_GRP[1].$MIN_DIS_TRQ[x]
but robot is giving "INTP-311 Uninitialized data is used " while executing R[b]=$MOR_GRP[1].$MIN_DIS_TRQ[x].
I had also tried to execute BG logic by keeping Min torque instruction under IF() instruction, but again same fault. to be precise, in my Robot UO[2] is robot servo ON, so exact instruction was.
R[a]=$MOR_GRP[1].$MAX_DIS_TRQ[x]
IF(UO[2]),R[b]=$MOR_GRP[1].$MIN_DIS_TRQ[x]
But again INTP-311 is coming at second line.
Please help.
Use bracktes on the right side of the expressions and it will work:
R[a]=($MOR_GRP[1].$MAX_DIS_TRQ[x])
R[b]=($MOR_GRP[1].$MIN_DIS_TRQ[x])
Hi,
Tried to implement using brackets on right side also, but didn't work.
One thing to clarify that error comes only in Min_DIS_Trq command when new robot movement command is given, as at that time Robot internally moves (-360 for axis 1,2,3 & -180 for axis 4,5,6) value to Max Distortion Torque screen and (+360 for axis 1,2,3 & +180 for axis 4,5,6) to Min Distortion Screen for computation of Max and Min Disturbance Torque.
Regards
You must select a protocol that is compatible with both your PLC and the robot. Then you must purchase that option for the robot.
After you do that you could use a BG Logic program to store the torque values into registers, then read those registers with your PLC.
How can Data registers be read into PLC? Ethernet option is available in both PLC and Robot.
Can you please guide.
Hi,
Tried to implement using brackets on right side also, but didn't work.
One thing to clarify that error comes only in Min_DIS_Trq command when new robot movement command is given, as at that time Robot internally moves (-360 for axis 1,2,3 & -180 for axis 4,5,6) value to Max Distortion Torque screen and (+360 for axis 1,2,3 & +180 for axis 4,5,6) to Min Distortion Screen for computation of Max and Min Disturbance Torque.
Regards
It definitely works on controllers with newer software versions. Sorry, I didn't notice that you are working with an older robot.
Can you post your BG logic program or at least a picture of it?
Hi,
Please find BG logic programme.
R[61]=($MOR_GRP[1].$MAX_DIS_TRQ[1])
R[62]=($MOR_GRP[1].$MIN_DIS_TRQ[1])
R[63]=($MOR_GRP[1].$MAX_DIS_TRQ[2])
R[64]=($MOR_GRP[1].$MIN_DIS_TRQ[2])
R[65]=($MOR_GRP[1].$MAX_DIS_TRQ[3])
R[66]=($MOR_GRP[1].$MIN_DIS_TRQ[3])
R[67]=($MOR_GRP[1].$MAX_DIS_TRQ[4])
R[68]=($MOR_GRP[1].$MIN_DIS_TRQ[4])
R[69]=($MOR_GRP[1].$MAX_DIS_TRQ[5])
R[70]=($MOR_GRP[1].$MIN_DIS_TRQ[5])
R[71]=($MOR_GRP[1].$MAX_DIS_TRQ[6])
R[72]=($MOR_GRP[1].$MIN_DIS_TRQ[6])
It runs OK in BG logic if MIN_DIS_TRQ instructions are deleted, else it gives error at MIN_DIS_TRQ instruction and BG logic programme also goes in error mode.
While execution in BG logic error comes when move command is given (from what i can understand, as at that time, 32767 value is moved in all axis MIN_DIS_TRQ variable).
Hope my reply helps you in better understanding of my problem.
Regards
One thing to clarify that error comes only in Min_DIS_Trq command when new robot movement command is given, as at that time Robot internally moves (-360 for axis 1,2,3 & -180 for axis 4,5,6) value to Max Distortion Torque screen and (+360 for axis 1,2,3 & +180 for axis 4,5,6) to Min Distortion Screen for computation of Max and Min Disturbance Torque.
Go to the varibles screen with eg. $MOR_GRP[1].$MIN_DIS_TRQ[1] and try moving J1 + and -.
Are there any changes?
Do the same for $MOR_GRP[1].$MAX_DIS_TRQ[1].
Then post the results.
Adding one more thing... I'd use the following system variable: $MISC[1].$HPD_TRQ[1] for axis one and so on for other axes.
But it's a current disturbance torque, and if you need max and min value it's a bit more work to do.