14 Working with a higher-level control...

14
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Working with a higher-level controller
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14.1 Overview
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The following contents are explained in this training module:
Preparing program start from a PLC
Adapting the PLC interface

14.2 Preparation for program start from PLC

Robot in system If robot processes are to be controlled centrally (by a host computer or PLC),
group this is carried out using the Automatic External interface.

Fig. 14-1: PLC connection

System structure The Automatic External interface allows robot processes to be controlled by a
principle higher-level controller (e.g. a PLC).
The following are required for communication between the PLC and the
robot:
There must be a configured field bus physically present between the robot
and the PLC, e.g. PROFINET.
Signals for the robot processes must be transmitted via the field bus. This
is achieved by means of configurable digital inputs and outputs in the Au-
tomatic External interface.
Control signals to the robot (inputs):
The higher-level controller transmits the signals for the robot process-
es (e.g. motion enable, fault acknowledgement, program start, etc.) to
the robot controller via the Automatic External interface.
Robot state (outputs):
The robot controller transmits information about operating states and
fault states to the higher-level controller.
An adapted CELL.SRC
Organization program for selecting robot programs from outside.
Selection of Automatic External mode
Operating mode in which a host computer or PLC assumes control of the
robot system.

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Safety instruc- Once the CELL program has been selected, a BCO run must be carried out in
tions – external T1 or T2 mode.
program start
A BCO run is executed as a PTP motion from the actual
position to the target position if the selected motion block
contains the motion command PTP. If the selected motion block contains LIN
or CIRC, the BCO run is executed as a LIN motion. Observe the motion to
avoid collisions. The velocity is automatically reduced during the BCO run.

If the BCO run is successful, no further BCO run is performed in the case of
the external start.

There is no BCO run in Automatic External mode. This

means that the robot moves to the first programmed po-
sition after the start at the programmed (not reduced) velocity and does not
stop there.

Procedure – Preconditions
external program T1 or T2 mode
start Inputs/outputs for Automatic External and the program CELL.SRC are
configured.
1. Select the program CELL.SRC in the Navigator. The CELL program is al-
ways located in the directory KRC:\R1.
2. Set program override to 100%. (This is the recommended setting. A differ-
ent value can be set if required.)

Fig. 14-2: Cell selection and program override setting

1 POV setting
2 Cell.src selection

3. Carry out a BCO run:

Press and hold down the enabling switch. Then press the Start key and
hold it down until the message “Programmed path reached (BCO)” is dis-
played in the message window.
4. Select “Automatic External” mode.
5. Start the program from a higher-level controller (PLC).

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 14 Working with a higher-level control...

14.3 Adapting the PLC interface (Cell.src)

Cell.src organi- The organization program Cell.src is used to manage the program numbers
zation program transferred by the PLC. It is located in the folder “R1”. Like any other program,
the Cell program can be customized, but the basic structure of the program
must be retained.

Structure and
functionality of
the Cell program

Fig. 14-3: Cell program

1 Initialization and home position

Initialization of the basic parameters
Check of the robot position after the home position
Initialization of the Automatic External interface
2
Endless loop:
Polling of the program number by the "P00" module
Entry into the selection loop with the program number determined.
3 Program number selection loop
Depending on the program number (stored in the variable “PG-
NO”), the program jumps to the corresponding branch (“CASE”).
The robot program entered in the branch is then executed.
Invalid program numbers cause the program to jump to the default
branch.
Once executed, the loop is repeated.

Procedure 1. Switch to the user group “Expert”.

2. Open CELL.SRC.

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3. In the “CASE” sections, replace the name “EXAMPLE” with the name of
the program that is to be called via the respective program number. Delete
the semicolon in front of the name.

Fig. 14-4: Example of an adapted Cell program

4. Close the program and save the changes.

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