Hi,
Does anyone know where I can find info on what system Signals robot needs to send to plc, and vice versa?
I/o mapping of signal? is there a standard map of what's required?
Thanks In Advance
Hi,
Does anyone know where I can find info on what system Signals robot needs to send to plc, and vice versa?
I/o mapping of signal? is there a standard map of what's required?
Thanks In Advance
all of the key documents are listed in READ FIRST topic.
In case of KUKA, robot has no inherent need to send signals to PLCs since robot is quite capable to function as a PLC on its own.
so if anything, it is the PLCs may need to send/receive signals to/from robot.
Reality however is that PLCs are better at being PLCs and often robots and PLCs are used together. What signals are exchanged depends on application needs. In other words there is no fixed standard... but... there are several signals that come up more often than others.
One common form of interaction is to use PLCs to control production and tell robots what process is required (what programs to run). In this case robot is used in EXT mode (form of automatic mode) and list of signals along with handshake sequence is described in Programming Manual for System Integrators.
For more details or list of additional signals refer to System Variables Manual.
Exact IO mapping is up to you and your needs.
On the robot side only standard (non-safe) IO need mapping. Safety IO mapping is fixed by KUKA. This means that type and order of signals is given and you cannot change it. For details refer to Safe Operation manual.
On the PLC side one need to map everything so without manuals to refer to order of safety signals there is no way to make things work. For safety signals, normal state (not tripped) is TRUE. So if there is some signal that you do not use, you still need to make it TRUE. In case of safety interface that uses X11 that means placing jumpers. If using network based safety, safety task in your PLC would need to force those things to TRUE.