Using of project I/O control [PickMaster 5]

PickMaster
1

Hi all,

Currently for one of my programs, I am using the project I/O control to control from the control panel the project loaded into the robot. I will write the programming flow and write in red the problem faced:

  • User will select the program on the PLC using a selector switch. This will load pmSystem_diLoadStart1 (As there is only 1 robot, T_Rob1) and at the same time change pmProject_giSelection to a certain value which matches the project mapping in the projectmapping file.
  1. Problem: How do we know pmSystem_diLoadStart has been pulsed? Is there a signal from the robot to letus know if ithas been triggered?
  • User will then press the start button to start the program.
  1. Problem: What signals can the PLC use to let it know when it is allowed to trigger pmProject_diStart?
  2. Problem: What signals can the PLC use to let it know that pmProject_diStart has been triggered?
  • After finishing, the user will press a stop button, triggering pmProject_diStop.
    Is there any way I can resolve this other than connecting the signals as a cross connection in Robot studio? This is because we can latch the signal as a cross connection but we will not know if there is any error from the robot side.

Thank you very much for your help
Thomas

2

Hi Thomas,

The compete sequence to start a project is described in the application manual.
See 7.3.4 Extended I/O interface, Starting a project.

How do we know pmSystem_diLoadStart has been pulsed?

  1. Check the prerequisities for using system input of type Load and Start in
    Technical Reference Manual, System parametes. E.g. the controller has to be in automatic mode. CycleOn will indicate when ready.
    What signals can the PLC use to let it know when it is allowed to trigger pmProject_diStart?
  2. The CycleOn signal (see application manual) is necessary.
    What signals can the PLC use to let it know that pmProject_diStart has been triggered?
  3. The pmProject_goStatus signal goes to 3 (see appliction manual)

BR Anders

3

Hi Anders,

Thank you very much. Will read first.

Thomas