The most basic way to integrate a robot into a production system is our PLC interface. By sending signals on digital inputs and outputs a PLC can send commands and receive status information. It also allows connecting buttons and lights for a simple display-less control by users.

Video Tutorial https://youtu.be/A5bhbdmGZXU

Available Channels

The inputs execute the following functions on rising edges:

"Enable / disable motors": When in error state the errors are first reset. A second rising edge (at least 1s later) will enable the motors (the Fault/NoFault outputs will change). If the motors are enabled (no fault present) a rising edge will disable them.
"Request reference": A rising edge will start the reference procedure for all joints.
"Start / stop program": The first rising edge will start the currently loaded robot program, the second will stop (not pause) it.
"Pause / continue program": The rising edge will pause the program. If a program is paused it will be continued on another rising edge.
"One button start": Two-button-control: Depending on the current state successive rising edges will: reset errors, enable motors, reference (if necessary) and start the loaded program.
"One button stop": Two-button-control: Depending on the current state successive rising edges will: Pause the program, stop it, then reset errors (which disables the motors).
"Shutdown": Turns the embedded control computer or PC down.
"Start platform mission": Start the selected platform mission.

Outputs from the Robot to the Master:

"NoFault": This output is high when the robot is in "No Error" state
"Fault": The opposite of No Fault
"Program Running": This output is high when the robot program is running.
"Program Not Running": The opposite of Program Running
"Robot Is Referenced": This output is high when all joints are referenced.
"Platform Mission Running": This output is high when the platform mission is running.

Configuration

The PLC interface can be set up graphically using CPRog/iRC or by manually changing the configuration files.

Start CPRog/iRC and load the correct project for your robot
If your robot is using an embedded control (TinyCtrl) connect it
Click File -> Configure Interfaces -> PLC interface
Enable the PLC interface by checking 'Enabled'
Enter the DIn numbers according to your wiring. Unused functions can be disabled by setting a DIn number that does not exist, e.g. 1.
Click "Apply". The PLC interface should be enabled immediately.

Program Triggers

The PLC interface also lets you set program triggers for starting programs via the PLC interface. You can choose digital inputs or global signals as triggers. The program will be started on a rising edge and interrupt the currently running program.