PalletPro PLC PLCPART.TP data/logic help

    Hey all,


    I'm really struggling with figuring out how/what data to send to Robot from the PLC (what logic to use). I've gone through the manual for PalletTool a few times and cant seem to make sense of it.

    I'm using ComptLogix 5069-L310ER on Fanuc R30iB-Plus Controller.


    Do I send a MSG?


    Or do I just set the GI as a decimal value and update it after each handshake from robot in PLCPART.TP program?


    I'm really having a mental block on this one and its my first time using PalletPro. If someone could "hold my hand" through this I would really appreciate it!

    PLCPART uses a combination of complimentary DI/DO and GI/GO signals.


    The digital in and out are a request to send output and ready to receive input on the robot side.


    The group input is used to send the data, and then the group output is used to echo the data back to the PLC for error checking.

    Okay that makes sense. So what am I sending for data on GI[1]? For instance if I'm wanting to run ML001 what do I send?


    Or do I change the data for each R[] in plcpart?


    i.e.


    !Wait for PLC ready to send data. ;

    WAIT DI[32]=ON;

    !Set total num of cycles to R[37] ;


    29: R[37:Total cycles]=GI[1] ; DO I NOW CHANGE DATA ON PLC FOR NEXT REG?(in this case it will be load number)


    30: !Echo tot num cycles back to PLC. ;

    31: GO[1]=R[37:Total cycles] ;

    32: !Signal PLC that data received. ;

    33: DO[32]=OFF ;

    34: !Wait for PLC acknowledgement. ;

    35: WAIT DI[32]=OFF

    36: ;

    37: !-------------------------------- ;

    38: !Initialize Loop Counter ;

    39: R[57:PLC Loop Counter]=0 ;

    40: !-------------------------------- ;

    41: LBL[10:Cycle Data Loop] ;

    42: !Reset Alt Infeed Counter ;

    43: R[26:Unit counter]=0 ;

    44: !Increment loop counter. ;

    45: !Exit if cycle > total cycles. ;

    46: R[57:PLC Loop Counter]=R[57:PLC Loop Counter]+1 ;

    47: IF R[57:PLC Loop Counter]>R[37:Total cycles],JMP LBL[100] ;

    48: ;

    49: !-------------------------------- ;

    50: !Ready to receive load number ;

    51: !0 = disabled, to 999 Max. ;

    52: DO[32]=ON ;

    53: !Wait for PLC ready to send data. ;

    54: WAIT DI[32]=ON ;

    55: !Set Load number to R[52] ;

    56: R[52:PLC Load Num]=GI[1] ; CHANGE IT AGAIN NOW TO NEXT VALUE?



    ETC...

Advertising from our partners