Greetings again,
I have a Fanuc LR Mate 200iC Robot with a R-30-iA Mate controller connected to a Mitsubishi FX30-128M PLC via a FX2N-16CCL-Module. I want the plc to call the programs so if I write IF DI1=1 CALL HOME, what signals do I need to start running the HOME program? I hope I am explaining this correctly
Bobby Osborne
Calling and starting a program
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Bobby Osborne -
November 3, 2010 at 12:11 PM -
Thread is marked as Resolved.
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Sounds like a fairly new robot; did you get edocs with it? Check out the section on User Operation Panel (UOP's), this is the unique way Fanuc robots interface to a PLC. If you don't have edocs I could likely send the section on UOP's from an earlier S/W version.
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Bobby:
I dont want to open a can of worms but the answer to your question could be very complicated. There are like 4 different ways with different setups
Do you have any other robots on your plant ? Just to compare it
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I work for a machine builder and this is the first time we have used a robot. I have worked in factories before and have written new programs for robots already set up and in production, but this is the first time I have had to set one up from scratch. I do have eDocs (R-30ia Mate Controller Documentation, R-30iA Mate
LR Mate 200iC/ARC Mate 50iC Mechanical Documentation, and R-30iA V7.70 Handling Documentation) which one would it be in. I would like to do this by writing one main program and calling other programs from it. Thanks for all your help.
Bobby Osborne -
Info will be on the Handling
Let start from the beggining.Do you know what UOP are ?
Do you have the proper board on the robot ?
At power up, are you getting any messages related to I/O error ?
Can you go to the I/O, select the digital inputs or outputs, select Conf and tell us what you see -
At power up I get no error messages. When I go to outputs and configure this is what I see
Digital Outputs
# Range Rack Slot Start Stst
1 DO[1-80] 0 0 0 UNASG
2 DO[81-84] 48 1 21 ACTIV
3 DO[85-100] 0 0 0 UNASG
4 DO[1-12-] 48 1 1 ACTIV
5 DO[121-152] 92 1 1 ACTIV
6 DO[153-512] 0 0 0 UNASG -
Write the UOP. then I think I can figure it out
One more thing, do you have any other device connected to the robot because the #92 = CClink, but i dont know what #48 is
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somar,
I do not have any thing else connected to the robot controller besides the CC Link. I think my CC Link is communicating from the PLC to the Robot Controller but not the other way. My DO now looks like this:
Digital Outputs
# Range Rack Slot Start Stst
1 DO[1-80] 0 0 0 UNASG
2 DO[81-84] 48 1 21 ACTIV
3 DO[85-100] 0 0 0 UNASG
4 DO[1-12-] 48 1 1 ACTIV
5 DO[121-152] 92 1 1 ACTIV
6 DO [153-248]92 1 33 ACTIV
7 DO[249-512] 0 0 0 UNASGMy UOP looks like this:
# Range Rack Slot Start Stst
1 UO[1-1] 48 1 21 ACTIV
2 UO[2-5] 0 0 0 UNASG
3 UO[6-6] 48 0 0 ACTIV
4 UO[7-8] 0 0 0 UNASG
5 UO[9-9] 48 1 23 ACTIV
6 UO [10-10] 48 1 24 ACTIV
7 UO[11-20] 0 0 0 UNASGThe Status looks like this:
U01 OFF Cmd Enabled
U06 ON Fault
U09 OFF Batt alarm
U010 OFF BusyUI 1 ON *IMSTP
UI 2 OFF *Hold
UI 3 On *SFSPD
UI 4 OFF Cycle Stop
UI 5 OFF Fault Reset
UI 6 OFF Start
UI 7 *
UI 8 OFF Enable
UI 9 OFF RSR1/PNS1/STYLE1
UI10 OFF RSR2/PNS2/STYLE2
UI11 OFF RSR3/PNS3/STYLE3
UI12 OFF RSR4/PNS4/STYLE4UI17 Off PNS strobe
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Hi
the configuration is king of messy, you are correct, there is no 92 rack on your DI therefore robot doesnt read PLCThe status of the UO and UI will change and you will be able to control it once we assign the UOP to rack 92 and then you'll use the PLC.
I need to find out what is rack 48 is, because is messing up your set up OR I'm making a big mistake ( I dont make mistakes )
Hopefully somebody can read this and tell us what 48 is
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I've never heard of rack 48 but then I've never used a Mitsubishi FX30-128M PLC via a FX2N-16CCL-Module.
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I'm looking all over manuals and Rack48 is called "Peripheral equipment"
Bobby: "You have something we don't know"
Example Rack 89 is Ethernet
85 is ControlNet
96 is ModibusBTW, if you do an 'All of the above" backup, you should see the file SUMMARY.DG. Open it and take a look
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Rack 48 is the Peripheral Device Interface (PDI).
You can find the connector names and signal assignments in your Mate Controller Maintenance Manual.
- anon
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Rack 48 are the connectors on the bottom of the yellow control module behind the door. They are CRMA15 and CRMA16. They typically are connected to an interface board that will allow you to use the familiar 50 pin Honda style conectors CRMA58 and CRMA59.
Look on the system config menu near the bottom for a setting that affects UOP assignment.
UOP AUTO AssignmentThe LR Mate system will automatically use this connection when setting up the UOPs. You can change them after the fact, but you should also change two system variables $IO_AUTO_CFG = FALSE and $IO_AUTO_UOP = FALSE
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OK, I have all my I/O configured correctly and CC Link is communicating between the PLC and the Robot Controller. I have program select set to PNS in system configure. If I write a program and call it PNS0001 (is that the right amount of 0's?), turn on UI 1,2,3, and 8 which are IMSTP, HOLD, SFSPD and ENABLE, what other inputs do I need to turn on or pulse to select this program and get it to run. PNS 1 is UI 9, PNS Strobe is UI 15, Production Start is UI 16
Again, thanks for all your help
Bobby Osborneps If I have a position saved to Position Register 1, is there a way I can turn on a DO when ever the robot is at this position?
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Hi,
You can do it the nme of this instruction is reference position and you cand find it in menu/setup/ ref position
you need to move your robot to that position you want and then recorded in the page of reference position, there you need to redirect to a DO anyone yo want
i need to cal programs with pns but i dont know how if you have some information please send to me.
i hope this help you