Difference between revisions of "PLC Interface"
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| − | + | 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 [[Glossary|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= | |
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| − | + | The inputs execute the following functions on rising edges: | |
| − | * "Enable": | + | * "Enable": 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. |
| − | * "RequestReference": A rising edge will start the reference procedure for all joints | + | * "RequestReference": A rising edge will start the reference procedure for all joints. |
| − | * "Play": The first rising edge will start the currently loaded robot program, the second will stop (not pause) it. The program | + | * "Play": The first rising edge will start the currently loaded robot program, the second will stop (not pause) it. |
| + | * "Pause": The rising edge will pause the program. If a program is paused it will be continued on another rising edge. | ||
| + | * "Alt-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. | ||
| + | * "Alt-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: | Outputs from the Robot to the Master: | ||
* "NoFault": This output is high when the robot is in "No Error" state | * "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= | |
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| − | The | + | 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 'Active' | ||
| + | * 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 "Save project". The PLC interface should be enabled immediately. | ||
| − | + | [[File:CPRog_Config_PLC_Interface.PNG|800px]] | |
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| − | + | [[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]] | |
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| − | [[Category:CPRog]] | ||
Latest revision as of 17:47, 8 March 2023
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": 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.
- "RequestReference": A rising edge will start the reference procedure for all joints.
- "Play": The first rising edge will start the currently loaded robot program, the second will stop (not pause) it.
- "Pause": The rising edge will pause the program. If a program is paused it will be continued on another rising edge.
- "Alt-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.
- "Alt-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 'Active'
- 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 "Save project". The PLC interface should be enabled immediately.
