Posts by stonez

thanx bro ! i tried now 2 times and it seems that it works... now I do some testing to see if everything is okay.

what system variable ?

Hello all.

I want to convert cartesian to joint, but not going to the cart pos.

Main program: the robot picks up a part (circle shape) which has a pocket on it (like a pothole) somewhere. The robot has a distance sensor mounted on it through the hole on J6 (so the sensor is always stationary to J6). Basically when the robot goes above the part picks it up and then I tell the robot to move on X- direction while moving J6 to close +limit. Then I tell the robot to continue to move towards X- but then I rotate in the opposite direction until the pocket on the part is "scanned" by the distance sensor.

In background logic I have 2 programs, where one program increments a register by 1 when the sensor gives ON signal feedback (this happens when the sensor is moving right above the hole), and another bg program where I save the machine position from variable SCR_GRP_T.

While moving i get a value when the sensor moved off the hole, and in that instant I save machine pos, so I know where is the hole on the part.

Now the problem is that I need to convert SCR_GRP_T cart to degrees so I can put down the part, without going to that position where bg logic saved the "found hole" position. (so i cant use [PR5]=Jpos, and also I cannot use this in bg)

Yes I got this info after I posted.

The thing is that I need a timer to run in the background so that if it has been running for x then I need R[1]=1 or if it has been running for less then x then I need R[1]=0.

Can I do this with macro instead ? As in I call the macro from my main program before a motion (*** out the macro and call it with F[1]=1 ?)

Hello all.

I have to to a bg logic program where I do the R[1]=R[1]+1 incrementation for knowing x sec is passed. I did this and when i run it from my main program it does increment the counter but only once. This means that it has executed only once ? Why is this, I knew that bg logic programs will be executed cyclically.

My program:

IF (R[19]=1) THEN

R[20]=R[20]+1

ENDIF

IF (R[20]=125) THEN

R[21]=[R21]+1

R[20]=0

ENDIF

END

Thanx.

Well the moral of this thread is that the saying is true which goes as this : "you really learn if you do it from scratch yourself"

I did the robot plc communication with DI/DO s first.

This was done via realys from and back from the plc outputs imputs, mapped everything in DI/DO fanuc side, and remapped these to UOP, made a start sequence function in TIA, so with 4 bits I control system start inputs, program select, start stop etc.

After this I migrated the communication to profinet, and widened the transfer area, added more functions as, detect ref position, estop, auto mode detect etc.

cheers

just now i encountered the same situation, pendant freezes after approx 5 min of restart...

up ?

I will use male connectors to connect to the controllers female connectors, and wire them to a terminal which will be somewhere outside of the controller mounted maybe on our machine, where I can enter easily with the wires.

I will need to configure di/do-s to rack 0 ? I assume yes...

How do I continue to configure these to UOP-s so I can use them ?

It seems that I have crma 58, crma59 connectors on the mate controllers. Normally i could use these correct ?

Yes please it would mean the world to me, please post them and any other information which I would need to set this up. Thank you dearly my friend.

Quote from vipinpunneri

pls fins the attachment

"R-30iB Mate main board (CRMA15, CRMA16)
The R-30iB Mate controller is equipped with peripheral device control interfaces, which have 28 input
points and 24 output points in total. By default, the signals of the peripheral device control interfaces are
assigned to DI[101-120], DO[101-120], DI[81-88], and DO[81-84]. In the LR Handling Tool, the signals
of R-30iB Mate I/O main board are assigned to peripheral I/O by standard I/O assignment, because UOP
auto assignment is set to "Simple(CRMA16)"

this is what i found in the operators manual, where it is stated that there are 28 inputs and 24 outputs ?

Quote from prasolet

I would recommend buying molex profinet card for mini slot. There is a siemens profinet card available too, but we had some problems to set it up. Molex seemed easier to set-up.
If you have DI/DO card in robot controller (I doubt that), you could get away without using profinet card. 8 DI/DO signals should be enough to start the robot, but you need to have enough room in PLC I/O cards for that too. Profinet seems like the better option here, if you consider that your project could expand and you're going to need more signals in the future

Yes this is true profinet is the way to go for us, and a profinet card will be purchased in the future, but for now I would like to start with DI/DO. You are right we dont have the DI/DO card but, as I understood the r30ib-mate controller has a couple of DI/DO-s already built in as standard. I could use these DI/DO-s for starters, is this correct ?
These would be as in the attachment ?

anyone ?

Hello all. Sorry for the beginner question.

We just received a couple of fanuc robots, and it seems that I need to connect the M10iA robot to S7-1200 plc by Profinet or DI/O.

What do I need to buy for each situation ? (cards, software etc)

Which do you think is better and easier to implement considering I need to basically start/stop the robot movements from a signal from the plc ?

Thanx in advance.