RobotStudio event

How I can read value from PLC with group Input? (values's format are word)

I want to change offset value from outside with PLC communication. I have three value (x,y,z) for one point. And I have ten point. So, I need to change 30 value totally from PLC. Do you have any example about it?

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Answers

  • soup
    soup ✭✭✭
    Are you asking about how to setup a group input to receive values from a PLC or the RAPID code of applying offsets to a robtarget?
    • PLC words: Sometimes it's easiest to "waste" signals to make it easier for the PLC setup -- even though you don't need a number so large -- group 0-15, 16-31, etc., etc...
    • Offset robtargets: Search this forum for "offsets" and you'll find multiple examples of passing values to offset robtargets and using a bit to signal positive or negative...
  • Thank you for your answer @soup.

    ...
    Movej ...offs(x_offset, y_offset, z_offset) v500 ..... ect

    In general I'm changing offset like this and it was enough for me. But in that time I need to get theese valuse from PLC. Robot and PLC will work synchronous. I guess I can do it with group input.
  • soup
    soup ✭✭✭
    As far as timing, you can use signals or a group output for that.

    Example:

    ! infeed1 before pick
    SetGO goProgramPointer, 110;
    ...

    ! infeed1 at pick
    SetGO goProgramPointer, 120;
    ...

    ! infeed1 after pick
    SetGO goProgramPointer, 130;
    ...

    ! outfeed1 before place
    SetGO goProgramPointer, 210;
    ...

    ! outfeed1 at place
    SetGO goProgramPointer, 220;
    ...

    ! outfeed1 after place
    SetGO goProgramPointer, 230;
    ...

  • Thank you very much. I guess I understood better now :)