Posts by barttoso

Hello,

I am working on a automatisation that stacks tubes in a pallet with walls.

The position of the pallet over the x-axis can differ +- 30 mm. I want to tackle this problem by searching for the wall.

I have a position where the wall can start, from this position the end of arm moves slowly over de x-axis towards the wall until a capacitive sensor becomes active, then it stops. This position is the starting position of the program, so i want the set the x-axis of the base to 0.

I can't find a way to do this, it needs to be a temporary point so that when the hole pallet is fillet the base coördinates switch back.

Does anyone have some suggestions? Thanks in advance!

Hello people of the world,

I am working on a automatisation that is stacking metal tubes in a pallet with wooden walls.

The program is setup parametric. So the tube diameter and the tube length has to be send by a PLC(Unitronics) before the program can be executed.

The PLC sends the two parameters(Uint16) over Modbus-TCP to a converter(Anybus). The PLC sends this data to the IP-adress of the Anybus, this works, i can read this out with MODBUS-viewer.

Then the Anybus converts the signals to DeviceNet and the robot(Master) can read it out(in theory that is).

I have read a lot of forums where the setup of DeviceNet has been discussed and have set my system up accordingly. So the following setups have been made, also see the appendixes(you can see here some digital in and output, these are working).

Devnet:
- Macid=1 (Adress of the Anybus)

Iosys:
- ANIN1=1,0,16,2
- ANIN2=1,2,16,2

;I have also tried:
;ANIN1=1,0,16,3
;ANIN2=1,2,16,3
;and
;INW0=1,0,x1
;INW1=1,2,x1

Config.DAT:
SIGNAL i_buisdiameter $ANIN[1]
SIGNAL i_buislengte $ANIN[2]

;I have also tried, with ANIN and INW:
;SIGNAL i_buisdiameter $IN[1] TO $IN[16]
;SIGNAL i_buislengte $IN[17] TO $IN[32]

Then i look what has been send using the variablesoverview. I have declared i_buisdiameter, i_buislengte, $ANIN[1] and $ANIN[2].

The data remains 0.

Once, a week ago, i got data through but this was from -1 to 1. I wanted to change it using calculation to a number that was entered in the PLC, for example 1200. This didn't work and then i tried to change it back, but can't get it working again.

I feel like i don't really understand how to declare the signals. Could somebody please tell what the right setup should be and where it could be going wrong.

Help would be appreciated, then i can truely celebrate Christmas