Hello,
I'd like to start programming of robots. Before that I would like to make use of the available program "palletizer" in EasyPLC.
Can someone tell me how it should start and how to analyze it.
For example:
- I see first a Grafcet
- then lines ladder that evokes a robot function
- the robot has also to stack four different positions
- how should I interpret the coordinates in the functio
- things I have not thought of
- ...
Do you mean programming robots using a teachbox, storing movements X,Y,Z (S,L,U,R,B,T) and add gripper functions (pneumatics), weld functions or only settings inputs/outputs and mirroring signals through a PLC?
I just looked at the program, It looks like there's only conditions set for when the robot are allowed to move and where to move. The coordinates for the robot are not set in this program. Might be found in the machine editor.
Usually when programming robots you got a teachbox where you program the robot by itself and then set conditions in the robot program and the PLC (inputs, outputs) when the robot is allowed to move and where.
Often there is a ladder sequence in the robot program with inputs and such mirrored to the PLC inputs and outputs for synchronizing everything
Hello to all!
In Machines Simulator all the axis of the Robots and Gantry systems are managed by Analog I/O.
You have to map the PLC analog output/axis robot analog input to manage where the axis must to go, and use the PLC analog inputs/axis Robot analog output to read the current robot axis position.
In the palletizar machine, in order to simplify are used digital outputs to map the position where the bobot must to go (load, unload, ...).
An additional help that could help you is the machine desciption property that you can see in Machines Editor, if you open the machine in the editor and see this property, you will find additional help indicating some instructions about how to manage this installation.
Then in general you can map the axis coordinates in Machines Editor directly (see in Palletizer installation, the installaton Logic Program property) or assign to the axis the desired analogic I/O and sending the values from EasyPLC.
Other important tool for Robot is the Test Mode property, if you set this at TRUE in the Editor you can move the axis of the robot with the number keys (0 to 9) in order to teach the position where the robot must to go. Also obviously is to manage this option from logic creating functions in the PLC to move manually the robot as desired.
Thank you for the information.
I also see a function"Robot Move" with a script in it.
What is the function of it?