For demonstration purposes, however, it is not necessary, so I present here a simplified version.įrom the PLC side, the number of inputs / outputs can be set practically freely, we are limited only by the size of the Ethernet / IP frame (about 1400 bytes) and the number of adapters (slaves) working with a given scanner (master). As a rule, between them I also put I / O used as standard in each application (cell interface), signals monitoring the robot status, etc. It is here that we assign signals controlling the course of a given process (process variables).Īn example signal map may look like this:Īs you can see, at the beginning I put the UOP signals which are 3 bytes long. Similarly, Interconnect where we can, for example, “pass” the status of internal safety signals to the controller ( For monitoring purposes only).Īs a rule, for a given process, the most important groups will be 3 – Digital (digital inputs / outputs) and 5 – Group (digital inputs / outputs grouped in packages). Cell Interface and SOP (Standard Operator Panel) groups contain a set of useful signals for integrators. With their help, we can run the robot program using the PLC controller.
The most important of these groups is UOP – User Operator Panel, here are the signals necessary for the cooperation of the robot with the PLC. FANUC has some predefined groups of signals that are worth, and some should be included in such a list. STEP1 – I / O MAPīefore starting the robot-PLC communication setup, it is worth preparing a list of signals that we want to send between devices. In the second part, I would like to discuss some non-obvious features related to the EtherNet / IP option in FANUC robots that give you an advantage over other methods. In the first part, I will present the method of establishing communication step by step. In this article, I would like to present an example of communication configuration via EtherNet / IP between a PLC and a FANUC robot. Occasionally, certain devices offer slightly more functionality with certain network protocols. In other words, we choose what we know and like, but it is not always the most optimal choice. Of course, it is not always possible, then various types of converters come into play, but this is a separate topic. Once you finish jogging the robot, you can select Auto HOME button to return the robot to position and beginning cycling.The choice of communication protocol between the PLC controller and the peripheral device most often depends on the main device, i.e.*If you need to quickly stop robot movement, release the DEADMAN Switch What if you get a “In singularity” error? You need to Jog Joint J5 +/- at least 10 degrees.Then continue moving robot to desired position. Simply stop moving the robot with the JOG keys and press and hold the SHIFT Key. What happens if you get a Fanuc Robot Alarm JOG-007? This means that you stopped holding down the SHIFT key will moving the robot with the JOG Keys.You can move each joint into position by selecting the direction and joint key and holding the key down until the joint is in position. Now you are ready to start moving the robot at each joint, press and hold the SHIFT key as you use the JOG KEYS to move each joint to the needed position.To change the jog speed, press the -% or +% button and the speed changes by percent, you can watch the speed increase/decrease in the green speed box at the top right.To clear this error, completely release the DEADMAN Switch, press in again for one click and press the RESET button. If you compress the DEADMAN Switch to two clicks (fully), the robot will not move and there will be an error. You need to listen or feel for the first click and hold the switch here. You will notice that the DEADMAN Switch has three positions: unclicked, one click, and two clicks.From this point press the DEADMAN switch on the back of the teach pendant until you hear/feel one click, and hold throughout the jogging process.The jog speed is shown in the green box at the top right on the teach pendant screen – the jog speed defaults to 10%.S/Tool – moves the robot TCP in the x, y, or z direction and rotates x(w), y(p), and z(r) in the selected tool frame.įor our example, we jogged in the Joint System, so that we could show moving each Joint separately.
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