Posts by TCP

  • 32-Bit Group Input

    I used to send signed integer using 16 bit Group Input.
    Then did the following to convert;
    1: R[1] = GI[1] ;
    2: IF R[1] < 32768,JMP LBL[3] ;
    3: R[1] = R[1] - 65536 ; (negative value)
    4: LBL[3] ; (positive value)

  • Profibus module on multiple grippers

    Who is the Profibus Master?
    PLC or The Robot?
    Is there a lot of twist and Turn movements in the robot?
    Then running profibus thru the guts of the robot is not a good option.
    Another option is to use wireless.
    Do you change the grippers manually(human involved) or Automatic?

  • Trying to figure out a stacking function?

    Try below method.
    Robot will move thru 6 positions to complete the drop sequence.
    PR1-PR6

    PR1=LP1[1ST DROP POSN]

    X ADJUSTMENT
    R2 INCREMENTS FROM 0 AFTER EVERY DROP
    Then reset to 0 again after last drop.
    R3=10 DROP SPACING 10mm

    R1[NEXT_X_OFFSET]=R2[DROP COUNT]*R3[DROP_OFFSET]
    PR[1,1]=PR[1,1]+R1
    PR2=PR1
    PR3=PR1
    PR4=PR1
    PR5=PR1
    PR6=PR1

    Z ADJUSTMENT
    PR[1,3]=200 200 in world
    PR[2,3]=PR[2,3]+300 300mm above the drop posn
    PR[3,3]=PR[2,3]+100 100mm above the drop posn
    PR[4,3]=PR[4,3]+0 Drop posn
    PR[5,3]=PR[5,3]+50 50mm above the drop posn
    PR[6,3]=200 200 in world

    LPR1 1500mm/sec CNT100
    LPR2 1000mm/sec CNT100
    LPR3 900mm/sec CNT50
    LPR4 300mm/sec Fine
    Call DropPart
    LPR5 600mm/sec CNT50
    LPR6 1500mm/sec CNT100

    Jmp LBL 100
    LP1 300mm/sec Fine This is the 1st part drop position
    LBL 100

  • remote power monitor R30iB arc-mate 120

    I Use the following program to send system timers back to the PLC by using 2 GO's.
    You probably find the Power consumption variable in the same area.

    : LBL[1] ;
    2: R[39]=$SYSTEM_TIMER[1].PWR_TOT ;
    3: R[45]=R[39] ;
    4: IF R[46]=R[45],JMP LBL[999] ;
    5: R[46]=R[45] ;
    6: R[47]=R[47]+1 ;
    7: GO[4:SYS TIME SELECT]=R[47] ;
    8: LBL[9] ;
    9: IF R[47]<1,JMP LBL[10] ;
    10: IF R[47]=1,JMP LBL[11] ;
    11: IF R[47]=2,JMP LBL[12] ;
    12: IF R[47]=3,JMP LBL[13] ;
    13: IF R[47]=4,JMP LBL[14] ;
    14: IF R[47]<5,JMP LBL[9] ;
    15: LBL[10] ;
    16: R[47]=1 ;
    17: JMP LBL[9] ;
    18: LBL[11] ;
    19: R[40:POWER ON TIME]=$SYSTEM_TIMER[1].PWR_TOT ;
    20: R[40:POWER ON TIME]=R[40:POWER ON TIME]/60 ;
    21: R[48]=R[40:POWER ON TIME] ;
    22: JMP LBL[999] ;
    23: LBL[12] ;
    24: R[41:SERVO ON TIME]=$SYSTEM_TIMER[1].SRV_TOT ;
    25: R[41:SERVO ON TIME]=R[41:SERVO ON TIME]/60 ;
    26: R[48]=R[41:SERVO ON TIME] ;
    27: JMP LBL[999] ;
    28: LBL[13] ;
    29: R[42:RUN TIME]=$SYSTEM_TIMER[1].RUN_TOT ;
    30: R[42:RUN TIME]=R[42:RUN TIME]/60 ;
    31: R[48]=R[42:RUN TIME] ;
    32: JMP LBL[999] ;
    33: LBL[14] ;
    34: R[43:WAITING TIME]=$SYSTEM_TIMER[1].WIT_TOT ;
    35: R[43:WAITING TIME]=R[43:WAITING TIME]/60 ;
    36: R[48]=R[43:WAITING TIME] ;
    37: LBL[999] ;
    38: GO[5:SYS TIME]=R[48] ;
    39: JMP LBL[1] ;
    /POS
    /END

  • safety comm

    You can increase the Space check cubes up to 8, by following the following method.
    Still this would not be enough for your application.
    I would use all 8 space checks and (As Chippogr suggested) change the space vertex of the less critical ones on the run.

    Alternatively, You can send both robots x,y,z co-ordinates to PLC by using BG logic and monitor where the robots are.

    HOW TO INCREASE THE NUMBER OF SPACE CHECK CUBES FROM 3
    SIMPLY BY CHANGING THE VARIABLE

    $NUM_RSPACE
    1 [1] 3 TO THE NO YOU WANT THEN CYCLE POWER.

    IF YOU KEY IN A LARGER NUMBER THEN YOU WILL NOT BE ABLE TO RE-BOOT THE ROBOT.
    I HAVE TRIED UP TO 8 WITH OUT A PROBLEM.

  • Robot I/O and Controllogix

    You have 8 Robot outputs and 8 Robot Inputs on the EE Plug. You need to interconnect them as below.
    DI??-->RO1 RI1-->DO??
    DI??-->RO2 RI2-->DO??
    DI??-->RO3 RI3-->DO??
    DI??-->RO4 RI4-->DO??
    DI??-->RO5 RI5-->DO??
    DI??-->RO6 RI6-->DO??
    DI??-->RO7 RI7-->DO??
    DI??-->RO8 RI8-->DO??

  • R-30ia ethernet i/o signals

    Once you set up EthrnetIP settings on the robot then need to configure DI,DO,UI and UO. And also GO and GI if you are using them. I usually interconnect RI's and RO's to operate them directly from the PLC.
    I have attached a screen shot of configure screen for a Compactlogix PLC. I have used 11 words here. I think it's in bytes on the robot side. What is the part no of your Compactlogix?
    I always make the PLC as the Master.

  • R30iA DNET setup- need add more outputs

    Looks like you have 6 words mapped to DO's. Have a look on DI, UI, GI and also DO, UO and GO to find out how they have been mapped. Then look at the Devicenet configuration to find out how may words been mapped to robot? If you can back up your robot, zip all the files into one folder and email to me. Then I can help you further with the aid of the roboguide to figure out the mapping.

Advertising from our partners