【ECEN025】Configuration of External start

1 Robot Mode

Elite Cobot has three running mode:

  • TEACH
  • PLAY
  • REMOTE

Mode

Description

TEACH

Teach mode: jogging robot, configure parameters, create or modify program files.

PLAY

Play mode: running program

REMOTE

Remote mode: Control robot via external command,alarm clear /synchronization/speed adjust functions are disabled in Teach Pendent

2 Run the program in Play Mode

When robot in PLAY Mode, there are three ways to start running the program:

  • start-up key on TP(the green one)
  • I/O signal
  • Communication command transferd

start-up key is internal way, we will focus on the rest two way, which are external way, details will follow up. 

3 System variables related

Here list system varibles which will be used later on

3.1Digital Input (X--DI)

Variables Name

Description

X4~X19

State as DI4~DI19

Value:TRUE/FALSE

3.2Digital Output(Y--DO)

Variables Name

Description

Y0~Y19

State as DO0~DO19

Value:TRUE/FALSE

3.3Virtual Signal(M coils)

Variable

Description

Variable

Description

M0

robot status in emergency stop

0:emergency stop(E-stop)

1:normal

M1

external emergency stop status

0:in external E-stop

1:normal

M400

servo status

0:servo off

1: servo on

M401

robot in Progron original position

0:not in original position

1:in original position

M416

TEACH mode status

0:not in TEACH mode

1:in TEACH mode

M417

PLAY mode status

0:not in PLAY

1:in PLAY mode

M418

REMOTE mode status

0:not in REMOTE mode

1:in REMOTE mode

M419

0:runnign key on TP is not pressed

1:running key on TP is pressed

M420

0:pause key on TP not pressed

1:pause key on TP pressed

M421

0:servo key on TP is not pressed

1:servo key on TP is pressed

M424

0:other status

1:robot in stop

M425

0:other status

1:robot in pause

M427

0:other status

1:robot in running

M428

0:other status

1:robot in Alarm

M464

0:cursor is not on first line in program

1:cursor points to first line in progam

M465

state of Synchronization

0:not sync

1:Sync

M466

collision status

0:no collision

1:in collision

3.4Virtual Signals(S register)

Variable

Description

S0

external E-stop

S1

start

S2

pause

S3

servo on

S4

clear Alarm

S6

cursor jump to first line of program(only active when robot in stop status)

S17/S18

trigger reduced mode

S19

recovering from safe-guard stop

4 Start robot program via I/O

External IO or PLC signals can start the robot program.

Example:three external buttons, to clear system alram & synchronize encoder, then servo on , start program, pause program. JBI program name mainfy.jbi。

4.1 Preconditions

  • JBI file is done
  • knowledge of I/O connection(Please refer to user manual chapter 7.5 Digitial I/O)
  • knowledge of Elite cobot user PLC proramming(Please refer to user manual chapter 10 User PLC)

4.2 Operating Steps

1、connect three external buttons to x4~x6,which states of DI4~DI6。(please connect signals based on your case, In this example, DI 4 is used to clear alram & sync system & servo on, DI 5 is used to start main program, DI 6 is used to pause program)

2、Set mainfy.jbi as main program, select Prepartion--main program,as below:


3、select mainfy and click set. "set the main prorgam as mainfy.jbi" will be printe on TP as below: 


4、Extension->User PLC, edit signals as below:


Explanation as below:

  • line 0:press DI 4(X004),not in e-stop(M0 and M1),robot in PLAY mode(M417),robot has alarm(M428),then S 4 is triggerd to clear alarm and sycn encoder.
  • line 1:pressed DI 4(X004),no alarm(M428 reverse),in Sync mode(M465),then S3 works which will be excute servo on.
  • line 2:pressed DI 5(X005),robot servo on(M400),robot is not in running mode(M427 reverse),then S1 works to start main program.
  • line 3:pressed DI 6(X006),then S2 is triggerd to stop program.

5、click save when done.

 

6、warning to restart system,click ok, robot will be reboot automaticlly.

 

7、after reboot system, please switch to play mode by switch key.

8、Program cursor will be jump to first line of the main program.

9、robot will be in alarm when start up, press DI 4 button, alram will be cleared and system will be synchroniz, SERVO status on TP will be light.

10、pressed DI 5, program start to run.

11、pressed DI 6, program will be paused, cancel DI6 , and press DI 5 can continue the program running.

5 Start Program via other communication

Elite cobot support communications as following:

  • Modbus RTU/TC
  • TCP/IP

please refer to user manual for more details.

As communication will not use real botton, so there will be no IO connections, please use virtual signal M to trigger S signal in user PLC.for example, using M600 to replace X004、M601 to replace X005、M602 to replace X006。

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