Thanks Nation.
I'll route the flag to DCS and whack them with a DCS fault if they try jogging the robot so far that it could damage the cable (its a laser, would be expensive to replace, and cause a bunch of downtime).
-Jeff
Thanks Nation.
I'll route the flag to DCS and whack them with a DCS fault if they try jogging the robot so far that it could damage the cable (its a laser, would be expensive to replace, and cause a bunch of downtime).
-Jeff
I setup I/O between the PLC and the robot can created a bunch of group registers. The PLC had an array of CNC instructions, each instruction had a G-code, X, Y, Z, I, J ,K and F values. The robot prompted for an instruction and the PLC fed over those values and the robot used them to make the next move. The robot prompted for next instruction, the PLC incremented to the next instruction in the array, so forth and so on. Pretty straight forward and worked well for the project which was water deburring.
This involved programming in 2 different processors, the PLC ran the cell and provided the translation between the CNC programmers/operators, HMI, and the robot that provided the motion of the EOAT water nozzle..
Any ideas on create to have a working sphere? It is to restrict the EOAT from moving to far from a feed-thru on a wall so as not to damage an umbilical cord connected to it.
I've thought about a cube (working zone diagonal) sized for the sphere interior but that may be too restrictive.
Or working zone (lines) that kind of crudely creates a sphere.
I think I'm stuck with the latter.
I've done this several times with a AB PLC and a Fanuc robot using Ethernet/IP as the communication interface.
The customer requested a CNC G code programming interface so I wrote a little translator in ladder and it sent positions to the robot. Nothing high speed (<1sec) but it worked well enough.
It sounds like you want to do something similar. To match what I did, you'll need a fieldbus interface and something like Nation's Fanuc Ethernet/IP Explicit messaging program (but for a PC) to poke PRs with values.
Does your robot have a fieldbus interface? There are Ethernet/IP interface libraries for PCs.
You say a welder changed the configurations; is that still in effect or not?
(Sorry, I'm doing this while working on some other things).
OK, I don't know anything about a welder. But so far there is some info missing so its difficult to help. Need to see the configurations of each of those scanner / adapter definitions.
What is you IP address set to?
The mask is not going to allow you to talk to both 192.168.0.2 and 192.168.1.5 at the same time.
Show the configuration of the channels on the robot side.
That last pic must be the Delta's configuration? 128 bytes in and out?
Are you using Ethernet/IP with the Siemens PLC? I've heard it works but can be slow to the point that RPIs have to be lengthened.
Have you tried getting each of these working by themselves? Disabling the other 2?
Can you post some pics of your settings of both the scanner and the adapter?
Common mistake: The Module properties on the PLC side is sized for bytes (8-bit), the robot side is sized in words (16 bit). eg: If the robot is set to 32 words in and out, the PLC should be 64 bytes.
Even the best of us have overlooked that from time to time.
Yesterday I had 7 Roboguide projects open at one time, I've found Roboguide to be a very robust Windows application.
I'm assuming you've scanned for viruses, check the registry for errors, etc etc. Next would be to repair the installations or un-install then re-install both s/w packages, giving them a chance to re-install DLLs and set the registry.
Its impossible to narrow down what is wrong without having access to your computer but I would start with the fixing any problems in the registry and then repairing the s/w programs.
I use 7th and/or 8th axis mounted in the gripper to orient gripped parts. Their axis of rotation are usually parallel with the J6 EOAT mounting face. I make the extended axis part of the 1st motion group so that programmed positions do include those axis but haven't felt the need for them to be coordinated. I'm doing basically point-to-point moves in pick and place operations. Being able to orient the part gives the arm more options for reaching into tight spaces.
"I need to operate the 7th axis while the robot is in motion." If you want this axis to do something independent of the robot position commands, putting it into its own motion group may achieve that. Others here are more experienced and can answer that.
Those Quickpanels have long been retired and can be very difficult to get replacements (ie used on Ebay); suggest updating to something more current if the project funds allow it.
And how many background tasks are enabled?
How many words is the input size and output size in the driver set up for?
I've done Siemens to Fanuc but always used Profibus or Profinet and didn't experience delays like that. So, no experience with the Siemens acting as a EIP scannner.
Ever use Wireshark? You could monitor the traffic and see if the delays are present at the lowest level. Connect and disconnect the HMI to see if there is any change.
I'm wondering it might be what is called an offset in a Fanuc.
In the simplest use, the robot can move to a position stored in a register OR it can also move to that register position plus the value in another position register.
I've used it for palletizing, modifying the offset register as the pallet has products, slip sheets, etc built up.
Is that description similar?
As Sergei points out, I'm sure labels can't be commented out. If all of your other labels are commented like line 98, those JMP instructions will fault.
Remember that the number of I/O specified in the robot is 16 bit words and the PLC it is specified in 8-bit bytes.