Hi guys. Help me write logic in BG Logic to run the program using PNS.
Please, I really need it. 
Robot: Fanuc LR-10iA10 series 9.40
BG Logic in Fanuc
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Coldstart -
April 16, 2024 at 3:40 PM -
Thread is Unresolved
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MOM
April 16, 2024 at 3:43 PM Approved the thread. -
SkyeFire
April 16, 2024 at 3:45 PM Moved the thread from forum General Discussion of Industrial Robots Only to forum Fanuc Robot Forum. -
Please try to describe in more detail what you want to program.
BG Logic : Program runs cyclic and "always".
you can jump over parts of the program with
IF and FLG[X]
PNSxxxx : Program that is started by/from PLC
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Small addition: You can also use JMP LBLs in BG Logic code but you can only jump downwards.
CodeLBL[1] ! Jump is NOT possible JMP LBL[1]CodeJMP LBL[1] ! Jump is possible LBL[1] -
don't use PNS in a BG-logic.
You use the BG Logic as Auxilary Task. You will have inside all you need check always or copy/transfer I/O with PLC.
The PNS is Launched by PLC sequencielly as MAIN program but you can loop inside with LBL (as explained before) or not.
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Please, explain what you are trying to accomplish.
PNS is a method used for starting a robot program with signals from an external device (usually a PLC). To have this work, certain settings in your robot needs to be done (check manuals). Also, the program names must be named with the prefix "PNSxxxx", for example "PNS0001_Main" where the 4-digit number (0001-9999) correlates with the associated PNS-group input.
BG Logic is a program that is constantly running in the background as soon as the robot power on. It is not affected by alarms or E-stops.
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Please, explain what you are trying to accomplish.
PNS is a method used for starting a robot program with signals from an external device (usually a PLC). To have this work, certain settings in your robot needs to be done (check manuals). Also, the program names must be named with the prefix "PNSxxxx", for example "PNS0001_Main" where the 4-digit number (0001-9999) correlates with the associated PNS-group input.
BG Logic is a program that is constantly running in the background as soon as the robot power on. It is not affected by alarms or E-stops.
The robot is directly connected to a PC
I've made all the settings.
The simulation of enabling DI via Flag is successful.
I can't write a program in BG Logic to control the robot via Owen OPC Server
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If you are able to read/write Flags trough your setup, then you would only need to map the UOP signals to Flags.
To do this, use RACK 34, SLOT 1 in the config for the UOP signals.
No need for BG Logic.
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If you are able to read/write Flags trough your setup, then you would only need to map the UOP signals to Flags.
To do this, use RACK 34, SLOT 1 in the config for the UOP signals.
No need for BG Logic.
My task is to write 2 words in BG Logic, as I understand it, in one the command, in the other the program code...
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FANUC Robots doesn't use the data type WORD in TP programs (which is the only kind of program that's able to run as BG Logic).
You can for sure write the binary equivalent by using 16 boolean variables (Flag, Digital I/O, numerical Registers), but why?
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FANUC Robots doesn't use the data type WORD in TP programs (which is the only kind of program that's able to run as BG Logic).
You can for sure write the binary equivalent by using 16 boolean variables (Flag, Digital I/O, numerical Registers), but why?
I see you already understand what I mean ...)
That's the task set by the head, you need to do it and without your help I feel that I can't.
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Ok,
So the syntax would be either of the following:CodeF[1]=(ON) F[2]=(OFF) F[3]=(F[4]) F[5]=(!F[6]) F[7]=(F[8] AND F[9]) F[10]=(!F[11] OR F[12])Basically you're using "mixed logic" instructions to assign the value ON or OFF to the F-flag. This value can be constant (ON or OFF) or it can be the logical output of an expression (F[1] AND F[2]).
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