Problems movement robot arm

[WilliamDeRaedt]

Hello,

My name's william and as my end project i have to design an installation which uses a SCARA robotic arm. My assignment consists of 3 (divided up in 3 pairs of 2) conveyor and one robotic arm, 2 of which are responsible for the input of the boxes. The SCARA arm pics it up and puts it on the 3rd conveyor. Could someone check my program for any problems? i'd really appreciate it if someone could help me out. It's just a test program to get some movement into my arm just to see how i should address it.
here's the dropbox link to my files:  https://www.dropbox.com/sh/7yshs78mqfvo5a3/AADIRK2yT4g-y4xc3EsPXHR6a?dl=0
thanks in advance,
William De Raedt

[EasyPLC_Master]

Hello William, good work!

I attach you here a modification about your PLC logic program, showing how to manage the Scara Robot from PLC, with an easy example using the keys.
You make the mistake to use the function WriteOutput that is for digital outputs, but you must to use WriteAOutput that is for Analogic outputs.
Also the addresing about the outputs was not correct.
I also recommend you to use in the Machines Editor, the Test parameter of the Scara Robot (set to 1) to manage the robot manually with keyboard (keys 1,2,3,4,5,6,7,8,9,0) then you can write the values of the axis for each possition you want to use.

Please tell me if now is clear with this example.


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[WilliamDeRaedt]

Hello,

Thanks a lot for helping out, it made things a lot clearer. But there is one thing i can't figure out, how do you get those positions? Do you have to calculate them or something else?

Thanks a lot,
William De Raedt

[EasyPLC_Master]

Very easy, you can get the robot positions in several ways:

• Make a plc program to move the robot arm axis each one to read the position where you want to go
• Use the Machines Editor, and set the Test property of Robot to true, then you can move the axis with numeric keys