Micrologix does not support cyclic implicit messaging, hence cannot be an EIP adapter.
You have to configure the robot as an adapter, and communicate by explicit messages from the Micrologix program.
Posts by Sergei Troizky
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Hello to all,
Obviously can not set Space Function because the positions are changed.Possible solutions in BG logic:
- Change the space check vertex programmatically.
This will require the space disable for one BG scan, when the space is being changed.
Or
- Monitor the robot actual position and generate an interlock output programmatically. -
Adapter is usually free and preinstalled.
If you are planning using robot as a scanner, you need to know assembly instances of the adapter device. This information is provided by the manufacturer and necessary for the scanner configuration. -
For each point:
- In the original frame, MOVE TO.
- Without moving the robot, switch the frame and RECORD the position. -
From Handling Tool Manual:
16. INTERFERENCE CHECKING
16.1 OVERVIEW
16.1.1 Overview
The three main features of the Interference Checking option include:
Collision Avoidance
Multiple Controller Interference Checking
DualARM Single Controller Interference Checking
16.1.2 Collision Avoidance
The purpose of Collision Avoidance is to protect the robot arm (not just the TCP but the whole
arm) and the user’s tooling (attached to the robot) from colliding into a stationary fixture. -
Here is a line out of one of my BGlogic programs. Works great.
: GO[3:shelf_num_remove_ack]=R[10:shelf_num_remove] ;If you use BGLogic to transfer critical information I would also recommend setting up a heartbeat signal from the PLC and echoing it in your BGLogic program:
18: ;
19: R[15]=DI[84:BGLogic_Heartbeat] ;
20: DO[84:BGLogic_Heartbeat]=R[15] ;
21: ;
This has nothing with the topic subject, which is system variables. -
BG Logic DO[n]=($SSR.$SINGLESTEP)
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Get the Controller Maintenance Manual and see 4.6. Interface for End Effector.
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I don't see why not. You can do it also for boolean system variables. False/true are referred as 0/1.
However, you cannot read the string system variables, even into a string register. -
1. If, after activating the deadman switch, the message line in the top right corner is not clear, the robot is still in fault, and you have to press Reset (without releasing the deadman switch). Do not, however, press Shift+Reset.
Set the system variable $DMAURST to TRUE. The deadman switch will reset faults automatically.
2. The safety circuits must be properly connected.
3. You must hear the robot contactor engaged after activating the deadman switch.
Otherwise do not even try to jog,- the robot is not powered up.
I hope you depress the deadman switch as required, half way.
4. Open the faults history in the alarm menu. You may see there a more informative message, than just an "error state". -
The EE connector is the most straightforward way. The connections will be RI/RO (Robot) and limited to 8 each on the mentioned robot.
The outputs are sourcing transistors, the inputs are sink/source selectable, but only all together. -
One Shot Method A
F[1]=(OFF)
IF (DI[1] AND !F[2]),F[1]=(ON)
F[2]=(DI[1])
Now F[1] can be used at any point to test for a one shot condition before the end of the BG programOne Shot Method B
IF (DI[1] AND !F[1]),...
(Repeat above IF instruction when needed before next line)
F[1]=(DI[1])The most simple way to generate one shot is using the PULSE instruction with no time specified.
In BG Logic, this generates a single scan pulse.
Note, that in normal (non background) execution this will generate a pulse of default $DEFPULSE duration. -
STEP mode indicator output:
DO[n]=($SSR.$SINGLESTEP) -
The robot must be shut off by safety circuits when operator enters the cage.
This is a formal safety rule. Another rule is that safety cannot be implemented by software.
Therefore, if you want to bypass the robot's safety circuit, you must do this by another safety-rated hardware device.On the other hand, it's unclear what is the problem with operation resume or even restart, after stop by safety.
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One of your comments is still too long.
In the line 1 comment, you have 2 extra space characters after the dashes, which makes the comment 34 symbols long.Be extremely careful with spaces while editing offline, and be aware that double spaces are not allowed in instruction lines, except double space in before EXPRESS statement.
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There is the warning about posting Yaskawa Mode passwords, but nothing about parameters.
Such things must be clearly advertised. -
The mentioned error applies on attempt to load a job, when a job with the same name already exists in the robot.
Note, that the job name is the name indicated in the job file header, no matter what is the file name.
The existing job should be deleted from the robot, or better renamed, for backup purposes.Comments are limited to 32 symbols.
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But what's wrong with using the pdf file?
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Is the adapter connection in the robot configured to the same size and active?
Can you ping the PLC from the robot?
Also, I've never worked with CLX, but why does it say Owned:No and Moule identity mismatch on the last screenshot? Is this normal?