Send position via Profibus

Dukel

Hi all,

I would like to send a position towards an ABB robot by using profibus. acording to the GSD file of the ABB I can send a maximum of 8 Words (16bytes).

Is there a way to send the (X,Y,Z) (q1,q2,q3,q4) and (cf1 ,cf4, cf6, cfx) via Profibus and program RAPID in a way that is uses the new coordinates to move to the new position?

This is what is was thinking:

CONST robtarget Home:=[[928.612159322,0,1412.5],[0.5,0,0.866025404,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

VAR robtarget p20;

VAR num X := XI       !XI is a group input (max number 65535) 
.....

PROC Path_20()

        p20 := [[X, Y, Z],[q1, q2, q3, q4],[cf1, cf4, cf6, cfx],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];                    !external axis doesn't matter

        MoveL Home,v100,z0,tool0\WObj:=wobj0;

        MoveL p20,v100,z0,tool0\WObj:=wobj0;

ENDPROC

I'm using the IRB2400 manipulator and the S4C+ controller.

Hope someone can help!


Thanks! Dukel.

DenisFR

Hello,
You can send them in multi time.
Add bit to synchronize.