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

emrecakal

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?

soup

Yep, these numbers can be fed from the PLC and because group inputs can't be negative you need to set a signal the negative separately.

Example;

PROC SetOffsets()

   x_offset:=giOffsetX;

   y_offset:=giOffsetY;

   z_offset:=giOffsetZ;

   IF diOffsetX_Neg = 1   x_offset:=x_offset * -1;

   IF diOffsetY_Neg = 1   y_offset:=y_offset * -1;

   IF diOffsetZ_Neg = 1   z_offset:=z_offset * -1;

ENDPROC

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...

emrecakal

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

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;
...

emrecakal

Thank you very much. I guess I understood better now