I/O 24V on S4CPLUS

mfciril

Hi, I'm a newbie with Robot Studio and ABB robot. I would interface an IRB140 and a S4CPLUS controller to an acquisition system and control the movements of the robot with a sequence of pulse. I'll explain: in rapid sotware there is a sequence of moveL - pulseDO - waitDI instructions. When the robot is in a target generates a pulse (trigger) to the acquisition system that acquires the data. Latter generates a pulse to robot when the acquisition is ended and the robot moves unto new target. My question is: where is and what is the I/O interface in the controller? Where I connect the output and input signal on the controller? I found DSQC 509 and DSQC 504 boards and XT31, XT5, XT21 interfaces. I carry links to some images:http://www.aepwebmasters.it/Immagini/23042012006.jpg http://www.aepwebmasters.it/Immagini/23042012008.jpghttp://www.aepwebmasters.it/Immagini/23042012010.jpghttp://www.aepwebmasters.it/Immagini/23042012011.jpg Thanks a lot.

graemepaulin

Hi,

 

The DSQC590 is the saftey interface (which in your photot has no external connections - it is all jumpered out).

 

THe DSQC504 is the communications board.

You have something communicating through DeviceNet on connection CAN1.3 (X6).

 

You can communicate with your acquistion system directly through DeviceNet if it supports this..

Or you can purchase a I/O board -  the old version (which would have been supplied in the S4C+) is the DSQC328, which is now the DSQC652.

Both these ABB I/O units connect to the DeviceNet and have 16 inputs and 16 outputs (24V DC).

 

Hope this helps

 

Regards

Graeme

graemepaulin2012-04-25 21:45:51

mfciril

Thanks for your answer. On the flexpendant I looked for the I/O signals: in the I/O section there are two digital input and four digital output. How is it possible if there isn't a I/O interface?

graemepaulin

Hi,

 

This could be via the DeviceNet.

Do you have a point I/O module or pneumatic valve block on the gripper that is connected to the DeviceNet?

 

Regards

Graeme

mfciril

No. My gripper is only connect with the acquisition system. In particular, on the gripper a Hall effect sensor is mounted. My objective is to measure the field generated by a magnet. So, the manipulator must move only when the acquisition system ends the measurement in a target.

graemepaulin

If you go into the system parameters I/O topic and look at the signal definition what unit are they connected to?

You can then check the unit definition and see what bus it is connected to.

mfciril

How can I access to the system parameter I/O?

graemepaulin

Hi,

 

See the attached extract from the manual.

 

If you save the system paarameters to disk you can then open the files (xxx.cfg) with a text editor eg WordPad.

You want to open the EIO.cfg which contains the I/O setup.

 

Regards

Graeme

 

webwiz/450/SystemParameters.zip

mfciril

Hi, I was able to find the I/O controller. It is this:

http://www.aepwebmasters.it/Immagini/23042012010.jpg

in particular the block on the left. I have realized an adapter to interface the I/O controller the works to 24V with a NI acquisition board that works to 5V: it works fine .

 

But now I should calibrate the robot (an IRB140) because the resolver data are lost. I have attended the procedure indecated in the manual and I have calibrated manually the robot. How can I test if the zero configuration of the my robot corresponds to zero configuration of the robot in my simulation (RobotStudio)?

diamondstarlight

[QUOTE=mfciril]

Hi, I'm a newbie with Robot Studio and ABB robot. I would interface an IRB140 and a S4CPLUS controller to an acquisition system and control the movements of the robot with a sequence of pulse. I'll explain: in rapid sotware there is a sequence of moveL - pulseDO - waitDI instructions. When the robot is in a target generates a pulse (trigger) to the acquisition system that acquires the data. Latter generates a pulse to robot when the acquisition is ended and the robot moves unto new target. My question is: where is and what is the I/O interface in the controller? Where I connect the output and input signal on the controller? I found DSQC 509 and DSQC 504 boards and XT31, XT5, XT21 interfaces. I carry links to some images:http://www.aepwebmasters.it/Immagini/23042012006.jpg http://www.aepwebmasters.it/Immagini/23042012008.jpghttp://www.aepwebmasters.it/Immagini/23042012010.jpghttp://www.aepwebmasters.it/Immagini/23042012011.jpg Thanks a lot.[/QUOTE]

thanks for this post it is quite interesting and hopefully would work well with my RobotStudio.