Ethernet/IP but each port can be configured for IO-Link. I've used it with a PLC but not sure if it can be used with a robot.
https://publications.balluff.com/pdfengine/pdf?type=pdb&id=290894&con=en
Ethernet/IP but each port can be configured for IO-Link. I've used it with a PLC but not sure if it can be used with a robot.
https://publications.balluff.com/pdfengine/pdf?type=pdb&id=290894&con=en
As an example of PLC <-> Robot position exchange, I've done several applications of applying sealant and then performing a visual inspection. The visual image was displayed on a HMI and the set-up person was given the ability to modify robot PRs that the robot was using as offsets to the position at which the sealant was applied. The PLC read the offset PR using a explicit read instruction, modified the values based on the setup person's desires, and then wrote them back using a explicit write to that offset PR. The part had about 20+ locations getting the sealant applied.
Worked well, I've done a half-dozen of these using a M20 robot, AB Guardlogix PLC, Panelview PC/HMI, and a Cognex Insight camera.
I did a robot 5 years ago and have the FD_OnDesk project. I have a new CZ10 that I'm trying to do a similar project and I need the I/O assignments from the old project but I can't get that old FD_ONDESK program to run so I'm hoping the I/O assignments are in a file I can view through a text editor. Anyone know where they are stored?
Thanks!
I believe you're going to need a drive that is compatible with the servo motor and that can communicate with the PLC. Thats where it gets tricky - what drives are compatible. Obviously something pulled from a robot controller but possibly a drive from the GE fanuc family that may or may not be compatible.
PS: Formerly GE Fanuc (not to be confused with Fanuc Robotics), then just GE, is now owned by Emerson.
Update to this issue, Rockwell has released an updated AOP for the Fanuc robot interfacing with the Studio 5000. Its not a change to the driver but fixes a bug in the dialog that is used to edit the standard and safe I/O connections. The new AOP version is 1.45.00.
Just an aside, you can switch between user frame creation methods without losing any information. For instance, create a UF using the the 3 point method, switch to the direct input method to see the results, then switch back to 3 point; no information has been lost, the 3 points are still there.
I run into this often. The Guardlogix only wants to establish CIP communications (with a new SNN) with the robot if the robot is in the "new" or "fresh out of the box" state. If you get into the situation as you've described (happens when the Guardlogix is replaced), I've found the only way I can get the robot's CIP to a "new" state is to change the safety input and output sizes to something different, cycle the robot power, change the sizes back to the desired value, cycle the robot power and then you're able to take ownership thru the Guardlogix.
The guardlogix is what sets the SNN and I haven't found where you can change it in the robot to match; maybe through the variables but I don't know those details.
Hope that helps and if you find a different way, please post it here.
In turns out that this is normal behavior, the ABE option, when executing the recorded path backwards, continuously updates the P1 position in "AETMPMVG1" and executes.
Got some Fanuc LRmates with GM templates I inherited, I'm trying to make some recovery routines using ABE but ABE doesn't seem to be working properly. I haven't used it before and my only knowledge is what is in the manual.
When I execute the macro "DO BWD EXIT", the program pointer ends up in a routine "AETMPMVG1" which doesn't make sense to me. So I suspect either the macro in the macro table is not set correctly (its now "DOBWDEXIT" which is probably right) or whatever settings "DOBEDEXIT" uses to end up at "ATMPMVG1" is wrong.
Unfortunately I don't have GM's standard load and the folks here didn't make a backup when the robot's were powered up initially so I can't check it.
Any help is appreciated. Thanks, Jeff
Thanks Nation, I've been using explicit messaging for reading, adjusting, and writing back PR registers used for offsets, but its great that you went the extra step.
Hope you're doing well and thanks!
-Jeff
Does this occur when the robot is directly connected to the PLC? Meaning any switches or other devices that may have the same IP address are no longer connected. Because this suspiciously sounds like another device on the network has the same IP address as the robot or PLC.
You can program around all of those situations (example: lost comms ignores the robot's e-stop condition) in the safety task of the Guardlogix - I would opt for the CIP safety verses hardwired. You'll be glad you have the versatility.
Thank you, I'll give that a look. -Jeff
Often, I have 2-5 robots competing for access to a common space. I use a safety PLC along with DCS to only allow one robot at a time access to the common space. A TP program must first request access from the cell PLC and if given, the CPC zone is "enabled" for access. Once done and clear, the TP program releases it. The PLC logic gives access on first-asked-first-allowed.
This works well to protect the robots from crashing and if a programmer without system knowledge tries to program a robot to access that space without going through the request-release protocol, a DCS CPC zone violation occurs before the robot gets in harms way. And for the programming, a simple wait-on-a-OK-to-access-input is inserted in the routine.
Sadly, $scr_grp.$mch_ang doesn't give me the value of the slaved axis, only the master (J7 updates but J8 does not). I scoured the $DUAL_DRIVE variables where the master/slave relationship is defined but no luck there either.
I've got (2) extended axis (J7 & J8) that I make a dual axis after I calibrate them (J8 follows J7) so after pairing, a PR will only show J1-J7, I've noticed that if J8 (or J7) suffers a over current fault (requiring the controller to be power cycled) and J8 is no longer zero when J7 is zero, there are no faults indicating that they are no longer synchronized. So, on power up I'd like to put a comparison check on the J7 & J8, and report the un-synchronoused condition. Any place in the system variables I can get J8 value? (Sorry if this is detailed in another thread, a quick search didn't yield anything).
Thanks, Jeff
Load a pre-configured file from the controlled start menu. Wont be able to get around the change and apply function I bet.
Very nice, thank you for the utility. Often, I have multiple robot's that I would like to backup at once. Can fruit be run from the command line?
I was using the backup tool from onerobotics which is perfect except it doesn't backup more than 128 files.
Again, thank you!
PS: OneRobotics backup tool does appear to work for more than 128 files but sometimes not.
Also, set the configuration assembly instance to 100 size 0.
Not sure it will make a difference but set the connection to Unicast.
I would first get the implicit working and then enablethe explicit.