Posts by Johnny B

It is possible and it needs to be coded using the ClrErr command in a supervisory program.

In our applications the supervisory program monitors both SysState and the error output. We can then send a discreet (or EIP depending) "reset" signal form the PLC to trigger ClrErr.

Properly coded your PLC and a supervisory program can reset an error, turn on the motor, and start program(s) running to initialize your robot and start it cycling. That way you are not tied to the use of the robot pendant.

I believe it is because your input and output sizes are mismatched. The Denso is a multiple of 8 bits and the AB is multiple of 32.

In my applications I have the Denso set as 64 (512 bits) and the AB at 16 (512 bits)

Depending on the model of the RC7 controller (standard or global), the e-stops channels are hard wired via the Mini I/O (CN5) connector or the Safety I/O (CN10) connector. I do not believe you can disable them.

I'm happy it worked out for you!

I'm struggling to visualize what you are trying to do. Maybe attach a sketch or something.

With XYZ, RX, RY, and RZ, you can locate and angle work planes six ways from Sunday.

Also an option that must be purchased.

Fanuc options are a-la-carte. They will be happy to take your $$$$.

Are you trying to re-purpose and existing robot, or did you purchase this thing new? If you contact Fanuc with the robots F number they should be able to assist you in purchasing the option(s) you desire.

Did you purchase the option?

Go to:

Menu

0 -- Next

4 Status

2 Version ID

Config

If you do not have Ethernet /IP in there, you do not have the option.

It looks like you have a programming challenge ahead of you. Maybe someone else can chime in with an easier way.

As far as the RC8 is concerned, the Profinet option board brings in the data as IO points. You need 8 points per character. You can use the DefIO command to read 8 points into an integer and then use the Chr command to convert the integer to a character. I just played with it in WinCaps doing a single character.

You will have to loop the code to read 8 points at a time and build the string using the results.

What is the device sending the string to the Profinet board?

What controller do you have? Denso has a Profinet option board.

I had an application going from ethernet/ip to device net and I used an RTA 460ESDM-N34-D. That was pretty straight forward mapping in the RTA.

Are you trying to pass your 16 bits addressed as coils or as registers?

Hmmm… not really any resources out there that I’m aware of. It’s stuff I learned doing my first vision application and expanded on with other applications.

The comma delimited strings can be configured to hold whatever data you want. Send and received strings should have the same structure so that you can use a similar subroutine structures in the PLC and the RC7 to parse through them. My strings have looked something like this (*Note- Not shown is the carriage return or carriage return/line feed at the end of the string. That depends on which one your system is set up for.):

1034,125.83,-75.38,46.13,138

• The first value is I/O boolean points converted to an integer. In the RC7 you can use ndInb.pac and ndOnb.pac to encode and decode the I/O points, however you are limited to 16 points. You cannot use 32 as the RC7 uses the last bit as the sign bit. I modified and made my own code so I can use more points, up to 31. In the P3K PLC I used the Pack Bits and Unpack Bits instructions. I’m not sure what instructions the Click has to accomplish the same thing. These are your “expanded I/O”. I primarily used them for manual commands and feedback so that communications latency is not a big issue.
• The second, third, and fourth values are X, Y, and RZ coordinates. In this example these could be the coordinates of the part the camera is seeing.
• The fifth value is a timer value. In this example it is the vison process time of 138 ms.

The limitation to the strings is the overall string length. None of my applications ever gotten to that many characters.

I was looking at the Click manual. Another option is to use the RS-232 ports and exchange ASCII strings. You did not specify what your application is, and/or if comms speed is an issue. Comma delimited strings require programming to parse the data so there is always that too. It does work though if you are trying to expand on "usable I/O" and exchange data such as position, timer, or counter values.

Ethernet/IP is the easier way to go as far as communications, but the cards are not cheap. A new one far an RC8 controller is around $1200. I would contact Denso support to get the proper part number for an RC7. The cards also require a licensed extension code to be entered in the controller to activate it. Unless you can get a valid license with one you find on eBay, a used card may not work.

The RC7 communicates via Ethernet TCP/IP. In the past I have used a protocol converter such as an RTA 460MSTCP https://www.rtautomation.com/product/460mstcp/ to communicate between an older Automation Direct P3K PLC that only had Modbus and an RC7's Ethernet TCP/IP using comma delimited strings.

Is you UOP I/O setup in the same slot as the rest of your Ethernet/IP?

I believe I found it in another thread on this forum, but Roboguide does not like the UOP to be on the same slot as anything else. On my project my Ethernet/IP was on Slot 1. I configured the UOP to be on Slot 2 and the UI inputs now work correctly. For whatever reason though Roboguide still over rides the colors of some of the UI.

Bump.

I found this post by searching the forum for "import comments".

I'm new to Fanuc and Roboguide. I would like to import the comments for a slew of Register, I/O, and Flags. They were provided in two .txt files as part of a program package we received for a new application. I cannot find how to import comments in any of the Roboguide or Handling Tool documentation that I have.

Anyone?