Posts by sborchshev

What is a LED indicator color when it goes fast? If it is green - still collaborative speed mode. If it switches to orange/yellow it is non collaborative speed. I have crx10 and tested it before. At this point we run it at max collaborative speed if people not close to the cell. As someone approaches the cell it slows down. Check your DCS settings too, if speeds controlled by DIs.

If it is not exiting from the program, just check what is making it to keep looping. Must be condition in your IF statement.

Could be a difference in scan times in PLC and your robot. That is why I advised to use confirmation bit for program switching, done bit will allow to trigger demand for next program switch.

Quote from binfordw

I'm having a hard time getting my DO's to work.

I have external 24v and 0v wired per the manual, but I don't fully understand the rack/slot DO number assignment.

I am wanting to use CRMC20, And Im checking 0V to D01 for voltage.

Any help is appreciated!

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Rack 89 is Ethernet/IP rack, rack 48 is your physical I/O terminal in the controller. Also check your UI/UO auto assignment so it is not over lapping with what you are asigning manually.

Make less sense to abort your program with GUI button. It will complicate homing of the robot to restart next cycle. Instead, you want to pause it and then finish up the home position.

If immediate stop is not desired I would throw a flag with GUI button and if I see it in the program let the robot finish the program and stop.

If the goal is to stop the robot where it is, I would definitely paused it listed of terminating.

One of the other options using R[a] register and record a number after each critical move in each program. Let's say you have five programs, program one R[a] range would be 0 to 1000, program 2 1001 to 2000, program 3 2001 to 3000 and so on.

Whenever you need to home, call home program set another R[b] register to 1 to indicate homing request issued and check the value of R register If 0<R<1000 call program 1, 1001<R<2000 call program , 2001<R<3000 program 2 and so on.

In you program 1,2,3... check IF R[b]=1 jump to the homing label placed after the end of normal cycle of this program and depends of the value of R[a] you can program a backward exit from your R[a] position. than reset R[a] and R[b]. starting comparing R[a] to highest enter motion to built exit if robot stopped entering the cell and to the lowest exit motion number to finish the exit. If that make sense.

Also CRX robots have built in backward exit program when you can record up to 6000mm of motion and execute a backward exit. But from my experience if robot moves fast the recording is not accurate, so I used this method even with CRXs instead of built in option...

You can set an acknowledge DO signal to PLC right after you jump to the one of the routines, so PLC can drop program request DI. And give it a wait before you jump in the waiting loop.

I just set up Ethernet/IP for 16 in 16 out with CRX10L and Mitsubishi Q03UDE. Make sure your word amount is matching on both sides adaptor and your scanner.(robot and PLC). I even tried 64 words and all worked as well. Not sure of PLC1200 limitation, but definitely 8 words should be fine. Also at least on Mitsubishi if Ethernet/IP settings changed, it requires alarm reset/cycle power.

Hello guys, just getting back to you with my progress. So I got EIP4CCPU module for Q03UDE PLC that can be set as a scanner for Ethernet/IP network. Could not get it to run first, but found out need to upgrade a back plate to high-speed model from Q38B to Q38DB. After assembling back and set cpus according to Mitsubishi startup guide, setting up the scanner to match my robot (default) Ethernet/IT settings with 4X16-bit words in and out, things started working as they should. Assigned UOPs ad DI/DO to rack 89 and was in business. The hiccup was with overlapping DI/DO with UO/UI. if I tried to use DI/DO from point 1. So my final setup is 16x16 bits words in and out, UO (full auto assignment) to rack 89, by default it assigned some DI/DO to rack 1 slot to duplicate some UOs and assigned the rest of the point for DI/DO starting from 113 to rack 89 slot1. so I have 237 point of inputs and 235 points of outputs for PLC communication. Cannot be happier. So far all the test I threw at it worked with no issue. Oh and Fanuc sent me EDS file for the robot, there are two of them possible for my robot, basic for Ethernet/IP (the one I used) and second with safety I/O over Ethernet/IP.

Check your grounding. Could be static build up.

I am working on the project with CRX10iA/L and Mitsubishi QPLC at the moment. Having issues setting up Ethernet/IP I/O as well. But my issue came from PLC side, built in port is not capable for that protocol. So I am getting EIP4CCPU module that can be set as a Ethernet/IP scanner. Should be here later this week. Will post later. But is it says ONLINE there is no problem on the robot side it means it is waiting on the connection. Has to be on PLC side. IS it straight connection or through the switch? Try new cable and direct connection...

So I talked to Mitsubishi tech support and they confirmed my CPU built in ethernet port is not capable for Ethernet/IP. I am buying EIP4CCPU module that will work as a scanner for Ethernet/IP connection... Will update as I got the unit.

Hello guys, having the same issue setting up Mitsubishi QCPU talk to CRX10 via ethernet. Exactly the same thing happened.

Under Robot I/O Ethernet/IP it showing status of connection is ONLINE (under normal condition it should be RUNNING). And the same way it is not showing scanner IP in CONFIG tab (must show PLC IP address if RUNNING.

I feel like the problem is coming from PLC side. Cannot find any info how to set Mitsubishi PLC correctly... Not sure at this point if it is possible at all.

If you got any reply from Fanuc, please let me know...

Check what signal coming to the robot besides four needed to run. It could monitor heart bit from PLC on the background to interlock with the other equipment in the cell. Just a thought.

Have you trended control stop signal?

Still, what if something stuck under encoder, you will get false reading and potentially either crush of never load or bigger gaps...

Quote from hermann

Your encoder won't detect that mechanical inadequates, it is mounted at the motor, so bending, extracting, slipping will not be detected.

If you really want to catch all those things I think you need a camera.

I guess he meant encoder with the roller that we roll on the conveyor surface... Any way seems over kill. I have a cell that places parts on the slow moving belt, two parts per normal cycle, and in the break mode, when operator is not present it stagger them on the belt to fill entire surface. Pretty tight too. Coolant reserve tank, sitting on the belt upside down...on the neck... Runs on timers and constant belt speed. Unless you are talking one millimeter tolerance, but in this case squeezing parts on the belt, what are you gaining? One extra row of six parts over an hour? Need more parts on the belt, get a bigger belt...

That is what I was saying, would be easier to use built in function for program switching. And use relay I/O module that can be connected to PC via any protocols OP choose.

Also from your picture there should be one placement location and then you offset it five times to create your row. Or the conveyor never stops? Than I would placed the sensor on the leading edge of the row, sensor not blocked - ready to start new row, finished the row, reset offsets, sensor is off - start new one...

Why to bother with encoder at all? How much precision on the conveyor you are looking for? (gap between rows of parts) What kind of drive you have on the conveyor? I would drive the belt ether off PLC or robot DO with a timer. And set a sensor parallel to the row trailing edge to be sure it is clear to place the part after belt was indexed.

Quote from eusandre95

Hello sborchshev and thank you for your reply.

Could you be more specific and provide more details about your answer? As I told I have almost no knowledge in automation robots so I'd be grateful if you can provide more explanation.

If you could also share links to websites or other resources from which I can get more information it would be great!

6.6.2 Automatic Operation with Program Number Selection (PNS) The program number selection (PNS) function enables selection or checking of a program, using the peripheral I/O, from the remote controller. Eight input signals, PNS1 to PNS8, specify a PNS program number. Procedure 6-15 Automatic operation by program number selection Condition • PNS setting must be completed (See Subsection 3.8.2). • The remote condition must be satisfied. • The operation enable condition must be satisfied. • No one must be within the work area. There must be no obstacles. WARNING Start automatic operation as follows: When the robot starts operation, an unexpected situation may occur. To prevent any problem from occurring, be sure to check that no one is in the work area, that the work area is free from unnecessary equipment, that the safety barrier is in place, and that all the automatic operation conditions are correctly specified. Otherwise, the robot may injure a person or damage the equipment in the work area. Step 1 Turn off the teach pendant enable switch. 2 Place the system in remote mode. (For how to switch to remote mode, see the description of Remote/Local setup in Section 3.15, ”SYSTEM CONFIG MENU”.) 3 Send the program number selection signals (PNS1 to PNS8 inputs) indicating a target PNS number and the PNS strobe signal (PNSTROBE input) to the controller. A PNS program is then selected. The controller outputs the selected program number signals (SNO1 to SNO8 inputs) and PNS acknowledge signal (SNACK output) for confirmation. 4 Send an external start signal (PROD_START input). The selected program is then started. 5 To stop the program currently being executed, use the emergency stop button or hold button, or the immediate stop (*IMSTP input), hold (*HOLD input), or cycle stop (CSTOPI input) signal. B-83284EN/11 6. EXECUTING A PROGRAM - 431 - 6 To restart a halted program, use the external start signal (START input)

Get an operator manual (Basic Function) from Fanuc portal. It has full explanation. Like I said PNS is the easiest ones if you need remote program selection.

Fanuc has multiple options to select the program, PNS would be the most common and easy. It uses a binary from designated digital input combination to select the file. So four inputs will give you at least 15 programs to run. PNS0001 to PNS0015. And start signal to start the task.