I have seen some mention of KepServerEX in the forum and I went to Kepware's website and it looks like the Beckhoff Twincat is supported. What about using KepServerEx by Kepware in TwinCAT (PLC software) with SNPX functionality of the controller?
Posts by MMCINTIRE
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I am looking for some additional information to help determine the best way to integrate the R30iBP controller on a production machine that has a Beckhoff CX5140 PLC. The PLC will communicate with several IO-Link master blocks using EtherCAT and with a Red Lion HMI using modbus TCP.
EtherCAT/Modbus TCP Options:
FANUC offers the EtherCAT Function (J753 EtherCAT Slave option) but from what I have read in the manual, I don't think it will provide the access to certain information that I want such as PR() information. The modbus TCP option is also available form FANUC but the information available is also restricted to DI, DO, GI, GO, UI, and UO.
IO-Link Option?:
I'm not familiar with using racks 72 and 73 for IO-LINK II master/slave capabilities and I'm not sure what data is available but I have a feeling that it is the same information available with Modbus TCP and EtherCAT.
EIP Option:
The EIP option looks to be about the most flexible solution available but this also means that I would be adding a protocol to the machine so I want to investigate the previous mentioned methods as much as possible first. Otherwise, using the FANUC Advanced EIP Scanner option with a Beckhoff EIP slave module is possibly the best setup I can come up with and it would give me access to PR() data using HMI with the HMI option (or explicit messaging with the PLC?). I could use FANUC EIP Adapter option but the Beckhoff EIP Scanner is a fairly new product and possibly not as robust as I would need.
Also, if anybody has experience using a Beckhoff controller to access and change point data using the SNPX functionality or any other method I would most certainly be interested in learning how to accomplish that.
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Thanks for the suggestion Phil! Just a couple questions about your reply...
In your program snippet, I see you have added a .25 second wait for what I would guess is a wait time to prevent the program from hogging resources. Is that the lowest value you would use or is that a standard wait time you use for tasks like this?
Some notes:
1. This program is only able to be stopped by manually setting register 101 to 7261 from the teach pendant, adjust as needed, but leave a kill register in there or you'll only be able to adjust the program by loading a new copy from controlled start.
2. You will either need roboguide, ktrans, or the ASCII upload option to compile the .ls into a loadable .tp file
Note #1: When you mention kill register, you are referring to R[101] correct?
Note #2: I do have roboguide but I have never used it to convert .ls to .tp files. I haven't used roboguide much but I would guess I need to create a project where the robot has the ascii upload object and upload the .ls file. Then I would need to "backup" the converted .tp file and load it into my RJ3 correct?
I understand the need for changing the pause and auto abort settings but what portion of the .ls file would I be changing that prevents error TPIF-099 as mentioned above?
Also, FANUC tech support recommended that I utilize a user alarm that could abort all programs should this program get paused. Then use the user alarm to abort the program and, if the program is a macro and it is added to the macro table, I can restart it after it is aborted. By editing the header, the program would not be able to be aborted by when I set the no-pause setting it shouldn't be able to be paused either so I don't know if the user alarm is a necessary precaution.
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***UPDATE***
After trying the $PWR_NORMAL variable and adding my macro to the variable I received 2 errors...
TPIF-098: $PWR_NORMAL is not executed
TPIF-099: This program is being edited
Also, the last support chat I had was with a much more experienced tech. I did find out that the most resent version of Ladder III software will support PMC ladder for HandlingTool Version 5.30-3G and it will install and run on all newer versions of Microsoft OS so that is the most logical solution for me moving forward.
Although I enjoy learning about the variables $PWR_NORMAL and $PWR_SEMI, it becomes rather frustrating when I am given wrong information from tech support. I am happy that I got a valid answer regarding the software but the challenge of bypassing certain PMC variables without using the software is going to nag at me because I know there has to be a way!
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What about using an autoexec program?
This is another potential option that I will look into. This is setup in system config correct?
Thanks for pointing out autoexec! I have used this before but I have only been using FANUC a little over a year so and with such little experience solutions don't come to mind very quickly.
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Unfortunately, according to FANUC and the Tech Support department, the BG-Logic isn't an option available for the RJ3 controller.
I haven't used the condition monitor for something like this but I believe this would require me to start the condition monitor from a tp program and I might not have started a tp program yet and still need the registries to update. Also, a stop condition monitor is typically added at the end of the tp program so I don't know how the cell will react if the condition monitor is not ended.
After reading your reply, I again contacted Fanuc support just to be sure about the BG-Logic option and technical support informed me that BG Logic didn't come until later. Tech support did offer me an alternative solution though this time...I will try to create a macro that is activated from the PWR_NORMAL variable which will start the macro at power up as long as the motion group is set to all * the macro will run a continuous loop.
I'm going to give that a shot now.
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just click HERE - you'll find some useful tips and tricks for the BG-Logic function under that link.
I went to use this link and it no longer directs to "useful tips and tricks for the BG-Logic Function".
I will run some searches to see if I can locate the thread but if you could post another link that would be great!
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I am fairly new to Fanuc integration and have mostly worked with the R30iB controller. We have an RJ3 controller with HandlingTool V5.30-3G and I require a clever solution for updating some registers. If I were using the R30iB controller, I would use a BG Task to set this data but I don't believe that is an option with the RJ3 controller.
The cell does have the PMC option and I could purchase A08B-9210-J505: Fanuc Ladder III (Compatible with HandlingTool versions 5.22 thru 5.30-3) but this software requires a windows 95, 98, NT, or 2000 operating system. My IT department is not willing to let me install a VM with one of these operating systems so purchasing the software and making the necessary changes to the PMC ladder is not an option.
What I need is some added functionality for controlling a conveyor system without the need for the robot to be running. To me this is the perfect use for the BG Task utility.
Can anybody with educate me on alternative methods for continuous execution of executing of a monitoring program with an RJ3 controller?