What are the processes for automated PLC to control FAUNC robots?

Overview

In this project, M251 dPAC is used to control FAUNC robot It is used for two processes of battery assembly and disassembly. FANUC robot M-20iD-25 is used as the execution layer of the equipment, and M251 dPAC is used to schedule the internal execution program of FAUNC. IP communication is used between the two . The equipment architecture diagram is shown in Figure 1:

Figure 1

The robot will take out the pallet filled with batteries from the stacker, grab it with a clamp with two grippers, and grab the batteries to the pull line. When all the batteries are grabbed, the robot sends them to the conveyor line, and the conveyor line discharges the empty pallet. We call this process the pallet removal process .

The robot takes out the batteries from the pull line and puts them into the empty pallet waiting on the conveyor line. After 12 groups of batteries are put in, the robot removes the battery pallet filled with batteries. According to the instructions sent by the conveyor line, the robot determines whether the pallet filled with batteries will flow into the stacker or the unpacking position of the conveyor line. We call this process the pallet assembly process.

robot

1. Interact with robot data

The communication between PLC and robot is mainly carried out through the two function blocks SYMLINKMULTIVARDST and SYMLINKMULTIVARSRC. The SYMLINKMULTIVARDST function block is used to process input variables. This function block needs to link the initialization event to INIT, and then link INITO to REQ, as shown in Figure 4:

Figure 4

The SYMLINKMULTIVARSRC function block is used to process output variables. This function block needs to link the initialization event to INIT and then link INITO to REQ, as shown in Figure 5:

Figure 5

IW1 has a total of 16 bits, see Table 1 for details:

Table 1

IW2 has a total of 16 bits, see Table 2 for details:

Table 2

IW3 has a total of 16 bits (only 7 bits are used), see Table 3 for details:

Table 3

IW4, IW5, and IW6 are all one word. See Table 4 for details:

Table 4

QW1 has a total of 16 bits, see Table 5 for details:

Table 5

QW2 has a total of 16 bits (only 14 bits are used), see Table 6 for details:

Table 6

QW3, QW4, QW5 are all one word, see Table 7 for details:

Table 7

QW6-QW12 are all one word, mainly used for data exchange with MET. For detailed information, see Table 8:

Table 8

2.PLC and TM3 module communication

The variables are mainly divided into input variables and output variables. The input variables are shown in Table 9, and the output variables are shown in Table 10:

Table 9

Table 10

3. Robot EDS configuration

01

Add FANUC's EDS file and make sure FANUC ROBOT R30iB exists in the Catalog, as shown in Figure 6:

Figure 6

02

After adding EDS, add the device FANUC Robot R30iB Plus file, as shown in Figure 7:

Figure 7

03

After adding, change the Input size and Output size to 48, and click "Apply" to ensure the settings are complete, as shown in Figure 8:

Figure 8

04

Click TCP and change it to IP address as shown in Figure 9:

Fig. 9

05

Change Ims Management to Manual, as shown in Figure 10:

Fig.10

06

Modify the IP address as shown in Figure 11:

Fig.11

07

Set the input and output points, as shown in Figure 12:

Fig.12

08

Confirm that the settings are complete, as shown in Figure 13:

Fig.13

After completing the settings, import the configured configuration file into Ethernet IP Sner, and the EDS configuration of the robot is completed.

Design and development of robot control CAT

The design of the program is mainly divided into 7 parts

1

The first part is Robot_to_PLC, which is used to process the communication variables from the robot to the PLC;

2

The second part is HMI, which is used to process some data of the human-computer interaction interface;

3

The third part is manual, which is used for debugging to confirm the action of the gripper and cylinder;

4

The fourth part is PLC_to_Robot, which is used to process the communication variables from PLC to robot;

5

The fifth part is the automatic process, in which the process of disassembling and assembling the tray is realized;

6

The sixth part is the stacking material, which is used to prevent further lowering when there are batteries underneath;

7

The seventh part is to read the actual position of the robot, which is used to read the angle values ​​of the robot's six joints. It can communicate with the software to realize functions such as digital twins.

The procedure is shown in Figure 14:

Fig.14

Review editor: Liu Qing