ext - Ladder Diagram Page 1

ext:MainTask:MainProgram 4/10/2018 8:54:08 PM

Total number of rungs in routine: 10 C:\_Work\ext.ACD

Some signals are (rising) edge sensitive.

Simplest solution is to activate them with pulsed signals
which would make them appear (almost) like level sensitive signals.
Here is one simple way to gerate 10Hz clock, 50% duty cycle.
Of cpurse one could also use internal free running clock or flags etc.

This clock can be faster too but - not too fast

both ON and OFF states should be 20ms or longer
CLOCK_TIME.DN TON
0 / Timer On Delay EN
Timer CLOCK_TIME
Preset 100 DN
Accum 0

50% duty cycle

GRT CLOCK
1 Greater Than (A>B)
Source A CLOCK_TIME.ACC
0
Source B 50

In order to control robot few things need to take place.

FIRST thing is to power up drives... this involves using TWO signals:

1. DRIVES_OFF can be true all the time (even mapped to input 1025 permanently).
When this signal goes low, drives are disabled and robot is stopped.

2. DRIVES_ON must be pulsed - it is edge sensitive

IT HIT THE FAN
RUN FOR YOUR
LIVES!!! (INVERTED...!)
DAMN DRIVES_OFF
2 /

Robot
Robot Mode drives enabled 50% duty cycle (Edge Sensitive)
EXT PERI_RDY CLOCK DRIVES_ON
3 /

SECOND thing is to enable motion.

In this case we only permit motion in two modes:
T1 - used for commissioning and recovery
EXT - used to run production when controlled by PLC
Robot
drives enabled Robot Mode
PERI_RDY T1 MOVE_ENABLE
4
Robot Mode
EXT

THIRD... If there is a robot fault (aka "stop message") try to acknowledge it...
Only in EXT mode messages can be acknoledged externally (here from PLC)
Robot tells that
there is a stop Confirm Robot
message preventing messages
Robot Mode operation 50% duty cycle (Edge Sensitive)
EXT STOPMESS CLOCK CONF_MESS
5

RSLogix 5000
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ext:MainTask:MainProgram 4/10/2018 8:54:24 PM
Total number of rungs in routine: 10 C:\_Work\ext.ACD

FOURTH and last step is to start robot program - assuming some program WAS selected.
(normally CELL is manually selected by operator, thenafter BCO is done, mode is changed to EXT)

Now you should see all three letters in "SIR" green on robot teach pendant.
This means robot is running and ready to repond to PLC requests...
If so - you did it - MISSION ACCOMPLISHED...!
Now we can tell robo which program we want it to run... (see next...)
Robot tells that Robot program Starts selected
there is a stop running robot program
Robot message preventing ("R" in "SIR" is - usually CELL
Robot Mode drives enabled operation green) 50% duty cycle (Edge Sensitive)
EXT PERI_RDY STOPMESS PRO_ACT CLOCK EXTERNAL_START
6 / /

We will need these four conditions few times, so lets just map them to some internal flag... i will call it ROBOT_STARTED
This will make following logic cleaner and without long wrap-arounds
Robot tells that Robot program
there is a stop running
Robot message preventing ("R" in "SIR" is Robot is
Robot Mode drives enabled operation green) under our spell...
EXT PERI_RDY STOPMESS PRO_ACT ROBOT_STARTED
7 /

PGNO is just
Robot is waiting for Run job#1 Program Number
Robot is program number you Serve that robot
under our spell... want it to run hamburger should run
ROBOT_STARTED PGNO_REQUEST Run_Prog1 MOV
8 Move
Source 1

Dest PGNO
3

PGNO is just
Run job#2 Program Number
Serve that robot
Bratwurst should run
Run_Prog2 MOV
Move
Source 2

Dest PGNO
3

PGNO is just
Run job#3 Program Number
Serve that robot
BEER should run
Run_Prog3 MOV
Move
Source 3

Dest PGNO
3

Run job#4 PGNO is just

Chicken dance Program Number
(are we having fun that robot
or not) should run
Run_Prog4 MOV
Move
Source 4

Dest PGNO
3

RSLogix 5000
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Total number of rungs in routine: 10 C:\_Work\ext.ACD

Make SURE that PGNO_VALID is set ONLY (!) when:

1. Robot is started (no faults)
2. while PGNO_REQUEST is on
3. when PGNO is CORRECT!

As soon as robot receives PGNO_VALID, it drops signals PGNO_REQUEST

Program number is
Mirrored_PGNO is confired as valid,
Robot is waiting for Program Number that PLC is OK with robot
Robot is program number you robot sends back to running program
under our spell... want it to run PLC for validation number PGNO
ROBOT_STARTED PGNO_REQUEST EQU PGNO_VALID
9 Equal
Source A Mirrored_PGNO
0
Source B PGNO
3

(End)

RSLogix 5000