Transcription

1 Programming a DENSO robot via a SIMATIC S SIMATIC S / TIA Portal V15 DENSO Command Slave Siemens Industry Online Support

2 Legal information Legal information Use of application examples Application examples illustrate the solution of automation tasks through an interaction of several components in the form of text, graphics and/or software modules. The application examples are a free service by Siemens AG and/or a subsidiary of Siemens AG ( Siemens ). They are nonbinding and make no claim to completeness or functionality regarding configuration and equipment. The application examples merely offer help with typical tasks; they do not constitute customer-specific solutions. You yourself are responsible for the proper and safe operation of the products in accordance with applicable regulations and must also check the function of the respective application example and customize it for your system. Siemens grants you the non-exclusive, non-sublicensable and non-transferable right to have the application examples used by technically trained personnel. Any change to the application examples is your responsibility. Sharing the application examples with third parties or copying the application examples or excerpts thereof is permitted only in combination with your own products. The application examples are not required to undergo the customary tests and quality inspections of a chargeable product; they may have functional and performance defects as well as errors. It is your responsibility to use them in such a manner that any malfunctions that may occur do not result in property damage or injury to persons. Disclaimer of liability Siemens shall not assume any liability, for any legal reason whatsoever, including, without limitation, liability for the usability, availability, completeness and freedom from defects of the application examples as well as for related information, configuration and performance data and any damage caused thereby. This shall not apply in cases of mandatory liability, for example under the German Product Liability Act, or in cases of intent, gross negligence, or culpable loss of life, bodily injury or damage to health, non-compliance with a guarantee, fraudulent non-disclosure of a defect, or culpable breach of material contractual obligations. Claims for damages arising from a breach of material contractual obligations shall however be limited to the foreseeable damage typical of the type of agreement, unless liability arises from intent or gross negligence or is based on loss of life, bodily injury or damage to health. The foregoing provisions do not imply any change in the burden of proof to your detriment. You shall indemnify Siemens against existing or future claims of third parties in this connection except where Siemens is mandatorily liable. By using the application examples you acknowledge that Siemens cannot be held liable for any damage beyond the liability provisions described. Other information Siemens reserves the right to make changes to the application examples at any time without notice. In case of discrepancies between the suggestions in the application examples and other Siemens publications such as catalogs, the content of the other documentation shall have precedence. The Siemens terms of use ( shall also apply. Security information Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement and continuously maintain a holistic, state-of-the-art industrial security concept. Siemens products and solutions constitute one element of such a concept. Customers are responsible for preventing unauthorized access to their plants, systems, machines and networks. Such systems, machines and components should only be connected to an enterprise network or the Internet if and to the extent such a connection is necessary and only when appropriate security measures (e.g. firewalls and/or network segmentation) are in place. For additional information on industrial security measures that may be implemented, please visit Fehler! Linkreferenz ungültig.. Siemens products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customer s exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed at: Entry-ID: , V1.0, 10/2018 2

3 Table of contents Table of contents Legal information Introduction Overview Principle of operation Aim of this Application Example Components used Basics Structure of an industrial robot DENSO Command Slave Overview Block library DENSO Command Slave Interpreter on the DENSO robot controller Configuration of the block library Block inputs and outputs MC_SetDynamic Hardware configuration Robot as PROFINET device Installing the GSDML file of the robot Integrating a robot into the hardware configuration Connecting the SIMATIC S7 and the robot Controlling several robots using a SIMATIC S Importing a block library Unpacking a block library Opening a block library Transferring blocks to the user program Basic program structure Block "SiemensDenso" MC_ReadAxesGroup MC_WriteAxesGroup Function blocks for robot movements Block "DensoControl" MC_Initialize MC_ReadErrorID MC_Reset MC_Power MC_ReadActualPosition MC_MoveJogJoint MC_MoveJogWork MC_TeachPosition Block "PickPlace" MC_GroupStop MC_GroupInterrupt MC_GroupContinue Define grinding procedure Define coordinate system MC_MoveAxisAbsolute MC_MoveLinearAbsolute Block "Circle" MC_DefinePositionVar MC_MoveDirectAbsolute MC_MoveCircularAbsolute Operation Entry-ID: , V1.0, 10/2018 3

4 Table of contents Status bar and Override Control functions Jogging the robot Example Programs Error handling HMI only shows rhombuses No connection to the robot controller CommandSlave-interface is not initialized Additional function Safety Integrated Diagnostic messages Appendix Advanced Example Service and support Contact partner DENSO Robotics Links and Literature Change documentation Entry-ID: , V1.0, 10/2018 4

5 1 Introduction 1 Introduction The use of industrial robots continues to grow. They are increasingly being used in machines and plants. Their standardized mechanics are well-developed and highly flexible in terms of their movement; as a result, robots are increasingly replacing expensive specialist mechanics. This also enables production from the first production batch without expensive modifications to machines and plants. Unfortunately, plant controllers and robot controllers usually constitute two different systems. Communication between the two controllers usually occurs solely on the bit level and the movement programs of the robot are stored on the robot controller and may only be called up by the plant controller. It is therefore difficult to trigger flexible robot reactions to specific plant events. Also, the plant controller and the robot are usually very different in terms of their programming, which means that it is not possible for one person to control both systems. Interface and coordination problems are therefore pre-programmed. 1.1 Overview A complete integration of the actuation and the movement control of the robot into the machine and plant controller should make the use of the industrial robot in a production plant easier and more flexible. The following requirements are imposed on the automation task: The robot should be fully programmable via the machine and plant controller (PLC). The robot can be operated via the same HMI of the PLC/machine (Single Point of Operation). Robot diagnostics should be fully possible via the PLC. Further functions, such as Safety Integrated, should be integrable and controllable via the PLC. 1.2 Principle of operation A DENSO industrial robot is to be completely programmed and operated via a SIMATIC S controller. The block library DENSO Command Slave in the TIA Portal is used for this purpose, which provides all function blocks required for this. Additional programming of the robot controller is therefore not required. Communication between the SIMATIC S controller and the DENSO industrial robot takes place via a PROFINET connection. All commands and status information between the SIMATIC controller and the robot are exchanged via this connection. Note Several DENSO industrial robots can be controlled simultaneously via a SIMATIC S controller using the DENSO Command Slave block library in the TIA portal. However, the application example presented here is limited to the coupling of a robot to a SIMATIC S Entry-ID: , V1.0, 10/2018 5

6 1 Introduction Diagram The following diagram provides a schematic representation of the most important components of the Application Example: Figure 1-1: Schematic overview of the application example SIMATIC CPU S VP-6242G RC8 PROFINET IE The motion control of the DENSO industrial robot is completely programmed in the SIMATIC controller using the DENSO Command Slave block library. The robot is assigned to the SIMATIC controller via a PROFINET connection as an I/O device. The DENSO industrial robot consists of the DENSO RC8 robot controller and the Frei verwendbar robot arm. The interpreter for the commands of the DENSO Command Slave block library is installed on the robot controller. The interpreter receives the SIMATIC controller commands and executes these, including the kinematics transformation, via the robot mechanics. Advantages Programming a DENSO industrial robot via a SIMATIC S controller using the DENSO Command Slave block library in the TIA portal offers the following advantages: All programming of robots and plants is performed in the TIA Portal. Training in a robot manufacturer-specific development environment is not necessary. The movement program of the robot is fully integrated into the plant control program and can be archived together with this program. The robot cell can be fully integrated into the SIMATIC plant controller. The operation of the robot can be integrated into the HMI user interface of the plant. Diagnostic messages of the robot are sent to the SIMATIC controller where they can be further processed and displayed on the HMI user interface of the plant. Remote access to the SIMATIC controller for service and maintenance is possible via standard functions and can be extended to the robot. Entry-ID: , V1.0, 10/2018 6

7 1 Introduction 1.3 Aim of this Application Example The application example described here presents the use of the DENSO Command Slave block library in the TIA Portal as an example and shows which functions are basically necessary to be able to program and operate a DENSO robot via a SIMATIC controller. The application example is intended to familiarize you with the basic functions of the DENSO Command Slave block library in the TIA Portal and offer you assistance in decision-making and planning your own projects and user programs with a DENSO industrial robot. The functioning of the blocks from the DENSO Command Slave block library is demonstrated by creating three function blocks in which the following robot functions are programmed: Switching on the robot (DensoControl) Implementation of a simple pick & place movement (PickPlace) Moving the robot on a circular path (Circle) The Application Example is suitable for programming a basic control of the robot in the SIMATIC controller. On the basis of this application example, a further example can be requested via Siemens Robotics Support, in which the use of a DENSO industrial robot with an extended range of functions, including the HMI user interface required for this, is shown. For more information on this topic, refer to section 5.1. Required knowledge A detailed description of the function and the application of the block library DENSO Command Slave can be found in the DENSO documentation for the library DENSO Command Slave, which is mentioned in section 5.4. Basic knowledge of the creation of a user program on the SIMATIC S in the TIA Portal or the hardware configuration is not taught in this Application Example, but is assumed. In addition, this Application Example is not an introduction to robotics. Basic knowledge of the application and the capabilities of an industrial robot are also required. 1.4 Components used The application example was created with the following hardware and software components: Table 1-1: SIEMENS components Component Quantit y Article number Note SIMATIC CPU S7-1516F 1 6ES FN01-0AB0 Firmware version 2.5 TIA Portal V15 STEP 7 Professional 1 6ES7822-1AA04-0YA5 Entry-ID: , V1.0, 10/2018 7

8 1 Introduction Table 1-2: DENSO components Component RC8 with firmware Quantit y 1 - Article number Note Robot controller VS Robot arm DENSO Command Slave 1 - Version: DENSO GSD file for RC8 with firmware Version: GSDML-V2.3- DENSOWAVE-RC8 RE PNS xml This application example consists of the following components: Table 1-3 Component File name Note Documentation _S7-1500_DENSO_ CommandSlave_DOCU_v10_de.pdf This document. TIA V15 Project DENSO_BASIC_EXAMPLE_V15_1516F.zip Example program Note In this application example, the DENSO RC8 robot controller is used. The DENSO RC8A robot controller can also be used in the same way. In this case, the Denso Command Slave interface is already installed on the robot controller and only needs to be activated via a corresponding license. To do this, please contact DENSO Robotics Support (see 5.3.1). The use of an RC8A enables the use of the optional MRK functionality Safety Motion (see 4.1). Entry-ID: , V1.0, 10/2018 8

9 2 Basics 2 Basics This section is intended to provide you with basic functions and background information for using a DENSO industrial robot in connection with the DENSO Command Slave block library. 2.1 Structure of an industrial robot A DENSO industrial robot generally consists of the following components. Figure 2-1: Construction of a DENSO industrial robot Table 2-1 No. Component Function 1 Manipulator The manipulator represents the actual robot mechanics, i.e. the kinematics, which executes the ordered commands. 2 Programming handset Teaching Pendant Settings on the robot controller can be 3 Connecting cable/ Teaching Pendant entered and checked via the Teaching Pendant programming handset. The robot can also be moved manually and automatically using the programming handset. 4 Robot controller The robot controller coordinates the movements of the robot. The 5 Connection cable/ data cable/ engine calculation of the coordinate cable transformation for the robot movements and the control of the robot axis motors occur in this controller. The robot controller may also contain the power units for the robot axis motors. Entry-ID: , V1.0, 10/2018 9

10 2 Basics 2.2 DENSO Command Slave Overview The following graphic gives an overview of how the DENSO Command Slave block library works. Figure 2-2: Function overview of DENSO Command Slave Reading the process image Function blocks of the user program Reading of robot data CmdSlv library block CmdSlv library block Writing of robot data DENSO Command Slave (Library) Function blocks of the user program Writing the process image SIMATIC PLC PROFINET IE Fieldbus interface Fieldbus interface Reading The instructions Write Cache memory for the next command Read Program memory Path calculation Actions DENSO Command Slave (Interpreter) Executing The instructions DENSO Robot controller RC8 Entry-ID: , V1.0, 10/

11 2 Basics Option package DENSO Command Slave The option package for a DENSO industrial robot DENSO Command Slave consists of two parts: A block library for programming a DENSO industrial robot from a SIMATIC controller. An interpreter on the robot controller which interprets the commands of the function blocks from the SIMATIC controller and passes them on to the path planning of the robot controller. Program sequence In the figure, the robot program, based on the block library DENSO Command Slave, is embedded in the program sequence of the machine program in the SIMATIC controller. The following functions of the robot program are executed with each program cycle: 1. Reading of robot data. 2. Ordering the robot movement via the function blocks of the block library DENSO Command Slave. 3. Writing of robot data. In the robot controller, in addition to the active robot movement, the subsequent movement is also stored in an intermediate memory. Only when the active movement has been completed and the following movement has been transferred to the program memory is the next movement order transferred to the robot controller Block library DENSO Command Slave The DENSO Command Slave block library provides various blocks for controlling a DENSO industrial robot. The desired functions of the DENSO robot can be controlled by simply calling the corresponding block from the block library. By calling a function block from the block library, the corresponding commands are transferred to the DENSO robot controller and interpreted there Interpreter on the DENSO robot controller The interpreter on the DENSO robot controller accepts the commands of the function blocks from the DENSO Command Slave block library in the robot controller. There it processes one command in its own cycle, while another is stored in the buffer. When the active command is completed, the command moves from the cache and a new command is moved to the cache. 2.3 Configuration of the block library Block inputs and outputs The function blocks of the DENSO Command Slave block library are designed according to the PLCopen standard. The motion blocks basically have the following inputs and outputs: Entry-ID: , V1.0, 10/

12 2 Basics Figure 2-3: Example of a PLCopen motion block of the block library Table 2-2: Input and output parameters of the PLCopen movement blocks Inputs AxesGroup Execute Position Velocity Acceleration Interface Description Index of the axis group (as defined in section 3.4.1) Starts / buffers movement at positive edge. Target position (data type depends on movement type) Speed for path movement In % 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives Acceleration for path movement In % 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives Entry-ID: , V1.0, 10/

13 2 Basics Interface Description Deceleration Deceleration of the path movement in %. 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives Buffermode Buffer mode selection (see section 3.6.5) TransitionMode Transition parameters Outputs Done NextActionPermit Busy Active CommandAborted Error ErrorID ErrorIDEx Transition mode selection (see section 3.6.5) Definition of the transition parameters (see section 3.6.5) Movement has been completed successfully. The next function block can be processed. Function block has not yet been completely executed. Movement is currently being executed. Instruction / movement aborted. Error during execution of the function block. Indicates the origin of the error. 2800: Error in PLC 2801: Error in robot control Error number The assignment to the corresponding error message can be found in the DENSO user manual under "Error Code List". Entry-ID: , V1.0, 10/

14 2 Basics MC_SetDynamic Using the function block "MC_SetDynamic" (FB 2044), preset values for speed, acceleration and deceleration can be defined. These are stored in the data block "DB_DENSO_ROBOTS" and always called when the corresponding input parameter of a motion block is assigned the value Figure 2-4: Define default values for speed, acceleration and deceleration Table 2-3: Input parameters of "MC_SetDynamic" AxesGroup Execute Dynamic Parameters Description Index of the axis group (as defined in section 3.4.1) Starts / buffers movement at positive edge. Default values "erc_dynamic" The data type "erc_dynamic" consists of the following real values: Velocity Accel Decel Entry-ID: , V1.0, 10/

15 This section explains how the Example Program for the Application Example was set up. This section explains the following: Integration of the robot in the hardware configuration of the TIA Portal project. Integration of the block library DENSO Command Slave. Programming of the basic functions of the robot. Programming of selected movement sequences of the robot. 3.1 Hardware configuration Robot as PROFINET device The DENSO robot is integrated into the hardware configuration of the TIA Portal project as a PROFINET IO device. The robot is integrated via an additional GSDML file to be integrated into the TIA Portal which contains the hardware description of the robot and the possible data telegrams for the data exchange between the SIMATIC controller and the robot Installing the GSDML file of the robot The GSDML file of the robot is stored on the robot controller. To access the file, open the following link with any Internet browser: Ethernet IP-Adresse>/eds/ Note Make sure that the IP address of the Ethernet interface is entered instead of the IP address of the PROFINET interface. Open the link of the GDSML file, copy the contents and save the file as a.xml file. Figure 3-1: Obtain GSDML file from Robot controller. The GSDML file generated in this way can then be integrated into the TIA Portal using the management function for GSD files. Entry-ID: , V1.0, 10/

16 Figure 3-2: Importing the GSDML file Select the GSDML file "DENSOWAVE-RC8 RE PNS". Figure 3-3: Install GSDML file Integrating a robot into the hardware configuration Once the GSDML file has been integrated into the TIA portal, the DENSO RC8 robot controller in the corresponding firmware version can be integrated into the hardware configuration of the TIA portal using drag & drop. Double-clicking on the robot controller in the hardware configuration allows further configuration of the components for data exchange with the SIMATIC controller. So that the data necessary for controlling the robot by the SIMATIC controller can be exchanged, the necessary data exchange telegrams with the robot controller must still be configured in the hardware configuration. For this purpose, one telegram each for 256 bytes in input and output direction must be integrated into the Robot Control component of the hardware configuration by drag & drop from the telegram selection. Entry-ID: , V1.0, 10/

17 Figure 3-4: Selection of the DENSO robot from the hardware catalog Figure 3-5: Data exchange between SIMATIC controller and the robot Figure 3-6: Data telegram Entry-ID: , V1.0, 10/

18 3.1.4 Connecting the SIMATIC S7 and the robot Finally, the robot controller and the SIMATIC controller must be connected to each other via PROFINET connection. For this purpose suitable IP addresses must be assigned to the individual devices or in the hardware configuration. Note Optionally, an HMI device, which can be used to control and monitor the robot functions, can also be integrated into the configuration. Figure 3-7: Connection of robots, SIMATIC controller and HMI Controlling several robots using a SIMATIC S7 Using a suitable SIMATIC controller and the DENSO Command Slave block library, up to ten DENSO robots can be controlled separately in the standard configuration. Demarcation is defined in the library. On the SIMATIC control side, the remanence of the memory has a limiting effect. The greater the number of robot positions which have to be stored, the more retentive memory is required. However, the remanence memory can be increased by a corresponding power supply module, whereby even smaller controllers could store more robot positions and theoretically control more than ten robots. The data block supplied with the DENSO Command Slave block library contains ten data arrays for data exchange between the SIMATIC controller and the robot. The data are assigned to the corresponding robot via the defined telegram addresses in the IO area of the SIMATIC controller, as defined in the hardware configuration. The assignment of the function blocks or the robot functions to the individual robots in the user program is made via the AxesGroup input of the blocks, which represents the index of the data array in the DB_DENSO_ROBOTS data block. This functionality will be explained in more detail in the following sections. Entry-ID: , V1.0, 10/

19 Figure 3-8: Data pool for ten robots in data block DB_DENSO_ROBOTS 3.2 Importing a block library Unpacking a block library Before you can use the block library DENSO Command Slave in your user program, the function blocks of the block library must be transferred to the TIA Portal project. The DENSO Command Slave block library for the TIA Portal is delivered as a global library from which all function blocks of the block library can be transferred to a TIA Portal project via drag&drop. To make the global library usable for the TIA Portal, extract the global library archive to a convenient location on the hard drive of your programming device. Note The DENSO Command Slave block library for the TIA portal can be requested directly from DENSO Robotics or downloaded from the DENSO website. The version of the library must match the interpreter on the robot controller Opening a block library After unpacking, you can open the global library via the access functions of the TIA Portal. Figure 3-9: Opening a block library Entry-ID: , V1.0, 10/

20 The block library DENSO Command Slave is stored as a copy template in the global library Transferring blocks to the user program The block library DENSO Command Slave is transferred to your user program by simple drag&drop from the global library. Both the necessary PLC data types and the function and data blocks from the copy templates of the global library must be transferred to your TIA Portal project. All templates are in the "Master copies" folder. First drag the object "Copy of PLC data types in DN_UDT" to the folder "PLC data types" in your project. A subfolder is automatically created there which contains all PLC data types of the DENSO Command Slave block library. Then drag the remaining objects into the "Program blocks" folder of your TIA Portal project. A subfolder is also automatically created there which contains all function blocks and data blocks of the DENSO Command Slave block library. Figure 3-10: Copy templates of the Command Slave library Now all necessary data types and blocks of the block library DENSO Command Slave are contained in your TIA Portal project. The functions of the block library can now be used in your user program. Entry-ID: , V1.0, 10/

21 3.3 Basic program structure The graphic below shows the basic structure of the Example Program for the robot. Figure 3-11: Schematic representation of the program sequence Main Cycle Siemens Denso MC_ ReadAxes Group Denso Control See detailed graphic PickPlace See detailed graphic Circle See detailed graphic MC_ WriteAxes Group The complete robot program is summarized in a function (FC) for better structuring. In this FC, the blocks required for the robot are then called from the DENSO block library and additional function blocks (FB) which contain special motion programs of the robot. The function "SiemensDenso" has the following structure: Reading the robot data via the block "MC_ReadAxesGroup". Executing the basic functions of the robot via the "DensoControl" block. Calling a block to execute a simple pick & place movement. This movement is summarized in the "PickPlace" block. Calling a block to execute a simple circular movement. This movement is summarized in the "Circle" block. Write the robot data via the block "MC_WriteAxesGroup". Note Note The function "SiemensDenso" serves for a better structuring and is to be understood accordingly as call FC. This means that it contains accesses to global DBs and thus cannot be used as a library element. The function block "DensoControl" contains accesses to global DBs of the DENSO Command Slave library. It can therefore only be used as a library element in conjunction with the DENSO Command Slave block library. Entry-ID: , V1.0, 10/

22 3.4 Block "SiemensDenso" Create a new block by right-clicking in the Program blocks area. Figure 3-12: Adding a new block Select "Function", assign a name and determine the desired programming language. Figure 3-13: Creating a new function Entry-ID: , V1.0, 10/

23 Open the newly created function and add the blocks "MC_ReadAxesGroup" (FB2301) and "MC_WriteAxesGroup" (FB2302) from the DENSO Command Slave library MC_ReadAxesGroup The "MC_ReadAxesGroup" (FB2301) block from the DENSO Command Slave library allows the data from the robot controller to be read into the internal data storage of the DENSO Command Slave block library in the SIMATIC controller. This makes the data of the robot or the robot controller available to the user program in the SIMATIC controller for the other blocks from the DENSO Command Slave library. Figure 3-14: Reading data from the robot Via the "AxesGroup" input, which corresponds to the index of the data array in the "DB_DENSO_ROBOTS" data block, and the "InAdress" input, at which the hardware address of the configured telegram is communicated from the robot controller to the SIMATIC controller, the assignment of the data to the corresponding robot connected to the SIMATIC controller is established. For the "InAdress" input, select the hardware address that was automatically generated during the project engineering of the robot controller in section Type in the symbolic name. You can also find it in the standard variable table under System constants. It consists of the names of the head module and the other modules. Figure 3-15: Hardware address in the standard variable table Entry-ID: , V1.0, 10/

24 Note The index of the "AxesGroup" input can then be used to assign the robot to the program blocks of the robot program in the SIMATIC MC_WriteAxesGroup The "MC_WriteAxesGroup" block (FB2302) from the DENSO Command Slave library transfers the data from the "DB_DENSO_ROBOTS" data block to the robot defined via the hardware address after the robot program has been processed in the SIMATIC controller. Figure 3-16: Writing data to the robot The inputs of this block are connected according to the function block "MC_ReadAxesGroup" from section CAUTION When entering the hardware addresses of the robot for reading and writing the robot data, make sure that they are correctly assigned to the desired robot. The "Override" input also determines the percentage override of the programmed speed: For axis-related movement commands, the override acts on the specified axis velocity. For path-related movement commands, the override acts on the specified path velocity. The following example is provided to explain this connection in more detail. In the figure, the maximum velocity, the programmed velocity and the resulting velocity with the override are given as a percentage of the maximum velocity. Figure 3-17: 50% override at 50% programmed velocity Entry-ID: , V1.0, 10/

25 Max. velocity Programmed velocity Override: 50% Resulting velocity 25% 50% 100% Velocity If a travel command is defined at half the maximum possible velocity, the override refers to this value. An override of 50% would therefore set the velocity of the robot to a quarter of the maximum possible velocity Function blocks for robot movements Now create the three function blocks "DensoControl", "PickPlace" and "Circle" analog to "SiemensDenso". Figure 3-18: Adding the function blocks 3.5 Block "DensoControl" The function block "DensoControl" contains basic functions of the robot: Entry-ID: , V1.0, 10/

26 Table 3-1: Function overview "DensoControl" Initialization Diagnostics data Functionality Switching on the robot drives Current Cartesian position and current axis position. Move the robot in jog mode by axes or Cartesian Teach position Function block MC_Initialize (FB2304) MC_ReadErrorID (FB2130) MC_Reset (FB2134) MC_Power (FB2300) MC_ReadActualPosition (FB2305) MC_MoveJogJoint (FB2013) MC_MoveJogWork (FB2014) MC_TeachPosition (FB2306) The function blocks are called as shown below: Figure 3-19: Function calls "DensoControl". Denso Control MC_ Initialize MC_ Read ErrorID MC_Reset MC_Power MC_ ReadActual Position MC_ MoveJog Joint MC_ MoveJog Work MC_ Teach Position Create the input variable "axesgroup" of the data type INT. This variable communicates the identity of the robot to be controlled to all subsequent function blocks. Entry-ID: , V1.0, 10/

27 Figure 3-20: Creating the "axisgroup" input variable MC_Initialize Before data can be exchanged between the SIMATIC controller and the robot, the interface of DENSO Command Slave must be initialized. To do this, call the block "MC_Initialize" (FB2304). The successful initialization of the interface is reported back to the user program via the output "Done". In addition, the block returns the following information: Interpreter version at the outputs: "RC_Major " "RC_Minor" "RC_Revision" Version of the block library at the outputs: "PLC_Major" "PLC_Minor" "PLC_Revision" Figure 3-21: Initialize command slave interface MC_ReadErrorID Now call the function block "MC_ReadErrorID" (FB2130) to read out the current message buffer. The robot controller contains a message buffer for several error messages. Up to ten messages can be read from the message buffer simultaneously with a call of the function block "MC_ReadErrorID". In addition, the block also contains an offset input via which the remaining error messages can be read out in groups of ten messages each. Entry-ID: , V1.0, 10/

28 Example If there are 15 messages in the message buffer, the function block "MC_ReadErrorID" must be called twice as follows: Call with offset 0 to read message 1 to 10 Call with offset 6 to read message 6 to 15 Figure 3-22: Read out message buffer MC_Reset With the help of the function block "MC_Reset" (FB2134), the current error status of a robot can be acknowledged. Figure 3-23: Acknowledging error messages of the robot MC_Power Now call the function block "MC_Power" (FB2300) to switch on the drives of the robot. Figure 3-24: Switch on the drives of the robot Entry-ID: , V1.0, 10/

29 3.5.5 MC_ReadActualPosition The function block "MC_ReadActualPosition" (FB2305) reads the Cartesian position of the tool tip in relation to the currently selected coordinate system and the positions of the individual axes. Figure 3-25: Readout of the current robot position The output "ActualPosition" outputs the current position in the defined structure "erc_posdensorobot". This contains all single values for the Cartesian position in space including currently selected reference coordinate systems as well as the positions of all axes. Figure 3-26: "ActualPosition" output parameter The cartesian position is described by the coordinates X, Y, Z, the rotation around the corresponding coordinate axes RX, RY, RZ and the parameter "Figure". If a cartesian value is specified, the axes of the robot can take different positions for this position. The parameter "Figure" is used for the exact specification of the robot alignment. The value thus describes the exact axis positions of the robot. Further information can be found in the DENSO user manual under "Position Data". Entry-ID: , V1.0, 10/

30 3.5.6 MC_MoveJogJoint Using the function block "MC_MoveJogJoint" (FB2013), the individual axes of the robot can be moved in jog mode. Figure 3-27: Move robot axes individually in jog mode Via the inputs "Axis1_Plus" to "Axis6_Minus" the robot axes can be rotated in the corresponding direction. The inputs "Axis7_Plus" to "Axis8_Minus" are intended for additional axes that can be influenced by the robot controller. Entry-ID: , V1.0, 10/

31 Figure 3-28: Robot axes MC_MoveJogWork Using the function block "MC_MoveJogWork" (FB2014), the Tool Center Point (TCP), i.e. the tool tip, can be moved in the Cartesian coordinate system. Figure 3-29: Move robot with cartesian jog mode Via the inputs "X_Plus" to "RZ_Minus" the tool tip is moved along the corresponding coordinate axes of the currently selected reference coordinate system. Entry-ID: , V1.0, 10/

32 Figure 3-30: Cartesian robot position The currently active coordinate systems are used as reference coordinate systems. If a jog function is called during an active movement, the active and buffered commands are aborted, the robot is braked and the drives are switched off with an error message. The error message must then be acknowledged and the robot can be switched on again. Note Alternatively, the function block "MC_MoveJogTool" (FB 2015) can be used. This block is used to move the tool tip in relation to its own coordinate system. Thus, for example, movements in the direction of action of the tool are possible MC_TeachPosition The function block "MC_TeachPosition" (FB2306) is used to teach in the current position of the robot. Figure 3-31: Teaching in a position The position and the current coordinate system to which the Cartesian position refers are stored in the data block "DB_DENSO_POSITIONS " (DB2999). Entry-ID: , V1.0, 10/

33 The storage location of the data in the position array of the data block is defined in the "Index". The data block is located in the block library in the CommandSlave/DN_DB directory. Figure 3-32: Data block "DB_DENSO_POSITIONS" Entry-ID: , V1.0, 10/

34 3.6 Block "PickPlace" The function block "PickPlace" contains a Example Program in the form of a simple pick & place application. The robot goes through the following movement profile: Home position Pick position Place position Home position Figure 3-33: Movement sequence of the simple pick & place application The following table contains the functionalities used for this. Table 3-2: "PickPlace" function overview Functionality Cancel active and buffered commands Interrupt active and buffered commands Continue active and buffered commands Move robot axes to a defined position Move the robot in a linear path to a Cartesian position Function block MC_GroupStop (FB2201) MC_GroupInterrupt (FB2200) MC_GroupContinue (FB2203) MC_MoveAxisAbsolute (FB2000) MC_MoveLinearAbsolute (FB2004) The positions to be approached are located in the data block "DB_DENSO_POSITIONS" in the following memory cells: DB_DENSO_POSITIONS.Position[1] DB_DENSO_POSITIONS.Position[5] The blocks are called as shown below. Entry-ID: , V1.0, 10/

35 Figure 3-34: "PickPlace" program sequence PickPlace MC_Group Stop MC_Group Interrupt MC_Group Continue MC_Move Linear Absolute MC_Move Axis Absolute MC_Move Linear Absolute MC_Move Linear Absolute MC_Move Linear Absolute MC_GroupStop First call up the function block "MC_GroupStop" (FB2201). This interrupts the active as well as the buffered instruction or movement on a rising edge at the "Execute" input. Figure 3-35: Abort active and buffered commands MC_GroupInterrupt Using the function block "MC_GroupInterrupt" (FB2200), all commands are interrupted. As long as an interrupt is active, no further commands can be processed via the command slave interface. The function block "MC_GroupStop" is also no longer processed. If a GroupStop command is sent with an active interrupt, the drives of Entry-ID: , V1.0, 10/

36 the robot are deactivated and the last active and the buffered command are aborted. Instructions are only accepted again if the program was continued with "MC_GroupContinue". Figure 3-36: Interrupting an active program MC_GroupContinue Call the function block "MC_GroupContinue" (FB2203) to continue a program interrupted by the block "MC_GroupInterrupt". Figure 3-37: Continuing an interrupted program CAUTION If motion tasks are still active in the robot controller, they are continued immediately by triggering the "MC_GroupContinue" Define grinding procedure The following parameters are used to define how successive motion commands are to be processed: Buffermode TransitionMode Transition parameters These parameters are specified at the inputs of each individual motion block. If the behavior of a path is to be identical for all segments, variables can be created for this purpose. These are assigned fixed values as shown below. Entry-ID: , V1.0, 10/

37 Figure 3-38: Define grinding procedure When a block is called, these variables are linked at the corresponding inputs. Table 3-3: Parameters for defining the grinding operation BufferMode Parameters Description Mode in which instructions are executed 0: Aborting OP0 Robot brakes at 100% Robot comes to a standstill Next motion command is executed 1: Attaching Robot moves to current target position Robot comes to a standstill Next motion command is executed 6: Overgrinding Robot is approaching the current target position Robot terminates motion command after "TransitionMode". Next motion command is executed 7: Aborting OP1 Robot brakes at 100% Robot does not come to a standstill Next motion command is executed 8: Aborting OP2 Robot decelerates with current braking rate Robot comes to a standstill Next motion command is executed 9: Aborting OP3 Robot decelerates with current braking rate Robot does not come to a standstill Next motion command is executed Entry-ID: , V1.0, 10/

38 Parameters Description TransitionMode Relevant when "BufferMode" = 6: Specifies how the target point of a movement is smoothed over. 0: Robot comes to a standstill (Encoder value check Motion (axis coordinate system)) 3: Blending with distance parameters 10: Robot does not come to a standstill 11: Robot comes to a standstill (Encoder value check Motion (Cartesian coordinate system)) Transition parameters Relevant when "TransitionMode" = 3: Distance to the target point in millimeters, the earliest point from which the blending should start. Example If distance-controlled grinding is required for two consecutive linear movements, the parameters must be defined as shown below. Figure 3-39: Grinding over with two consecutive operation commands The variables "statbuffermode" "stattransitionmode" and "stattransitionparam" now contain the information, for grinding over with a maximum distance of 10 mm during successive movements. Figure 3-40: Trajectory of the blended linear movements Entry-ID: , V1.0, 10/

39 3.6.5 Define coordinate system Define which coordinate systems are to be used for Cartesian movement commands. Create a variable of the type "erc_coordsys". This contains the index of a tool coordinate system and a reference coordinate system. Figure 3-41: Data type "erc_coordsys" Figure 3-42: Define coordinate systems Note This is not a library function MC_MoveAxisAbsolute For the motion sequence of the robot, the function block "MC_MoveAxisAbsolute" (FB2000) is first called to bring the robot arm into a basic position. This movement block moves all axes of the robot to the axis values defined by the user. The positions of each individual axis must be transferred to this block as the position. The structure "erc_joint" collectively contains all single values. Figure 3-43: Move axes to an axis-specific target position Entry-ID: , V1.0, 10/

40 Table 3-4: Parameters of the movement block "MC_MoveAxisAbsolute" Inputs AxesGroup Execute AxisPosition Velocity Acceleration Interface Description Index of the axis group (as defined in section 3.4.1) Starts / buffers movement at positive edge. Axis-specific target position: " erc_joint". Speed for path movement In % 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives Acceleration for path movement In % 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives Deceleration Deceleration of the path movement in %. 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives Entry-ID: , V1.0, 10/

41 BufferMode Interface Description Mode in which instructions are executed 0: Aborting OP0 Robot brakes at 100% Robot comes to a standstill Next motion command is executed 1: Attaching Robot moves to current target position Robot comes to a standstill Next motion command is executed 6: Overgrinding Robot is approaching the current target position Robot terminates motion command after "TransitionMode". Next motion command is executed 7: Aborting OP1 Robot brakes at 100% Robot does not come to a standstill Next motion command is executed 8: Aborting OP2 Robot decelerates with current braking rate Robot comes to a standstill Next motion command is executed 9: Aborting OP3 Robot decelerates with current braking rate Robot does not come to a standstill Next motion command is executed TransitionMode Relevant when "BufferMode" = 6: Specifies how the target point of a movement is smoothed over. 0: Robot comes to a standstill (Encoder value check Motion (axis coordinate system)) 3: Blending with distance parameters 10: Robot does not come to a standstill 11: Robot comes to a standstill (Encoder value check Motion (Cartesian coordinate system)) Transistion parameters Relevant when "TransitionMode" = 3: Distance to the target point in millimeters, the earliest point from which the blending should start. Outputs Done NextActionPermit Busy Active Movement has been completed successfully. Instruction has been completely transferred and confirmed by the robot controller. Function block has not yet been completely executed. Movement is currently being executed. Entry-ID: , V1.0, 10/

42 Interface CommandAborted Error ErrorID ErrorIDEx Description Instruction / movement aborted. Error during execution of the function block. Indicates the origin of the error. 2800: Error in PLC 2801: Error in robot control Error number The assignment to the corresponding error message can be found in the DENSO user manual under "Error Code List" MC_MoveLinearAbsolute The other positions of the robot are approached linearly using the function block "MC_MoveLinearAbsolute" (FB2004). In a linear movement, the target position is given in Cartesian form. The robot controller interpolates a straight path between the current position and the target position. During such a movement, the robot always moves its tool along the shortest (but not necessarily the fastest) path to the target point. Figure 3-44: Approach a Cartesian position in a linear path Since the position is not specified by axis but by Cartesian, the input expects the data type "erc_position". It contains all components of the Cartesian item (see also section 3.7.1). Entry-ID: , V1.0, 10/

43 Table 3-5: Parameters of the movement block "MC_MoveLinearAbsolute" Inputs AxesGroup Execute Position Velocity Acceleration Interface Description Index of the axis group (as defined in section 3.4.1) Starts / buffers movement at positive edge. Axis-specific target position: "erc_position". Speed for path movement In % 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives Acceleration for path movement In % 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives Deceleration Deceleration of the path movement in %. 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives CoordSystem Tool and base coordinate systems to which the Cartesian coordinates of the target position refer. Entry-ID: , V1.0, 10/

44 BufferMode Interface Description Mode in which instructions are executed 0: Aborting OP0 Robot brakes at 100% Robot comes to a standstill Next motion command is executed 1: Attaching Robot moves to current target position Robot comes to a standstill Next motion command is executed 6: Overgrinding Robot is approaching the current target position Robot terminates motion command after "TransitionMode". Next motion command is executed 7: Aborting OP1 Robot brakes at 100% Robot does not come to a standstill Next motion command is executed 8: Aborting OP2 Robot decelerates with current braking rate Robot comes to a standstill Next motion command is executed 9: Aborting OP3 Robot decelerates with current braking rate Robot does not come to a standstill Next motion command is executed TransitionMode Relevant when "BufferMode" = 6: Specifies how the target point of a movement is smoothed over. 0: Robot comes to a standstill (Encoder value check Motion (axis coordinate system)) 3: Blending with distance parameters 10: Robot does not come to a standstill 11: Robot comes to a standstill (Encoder value check Motion (Cartesian coordinate system)) Transistion parameters Relevant when "TransitionMode" = 3: Distance to the target point in millimeters, the earliest point from which the blending should start. Outputs Done NextActionPermit Busy Active Movement has been completed successfully. Instruction has been completely transferred and confirmed by the robot controller. Function block has not yet been completely executed. Movement is currently being executed. Entry-ID: , V1.0, 10/

45 Interface CommandAborted Error ErrorID ErrorIDEx Description Instruction / movement aborted. Error during execution of the function block. Indicates the origin of the error. 2800: Error in PLC 2801: Error in robot control Error number The assignment to the corresponding error message can be found in the DENSO user manual under "Error Code List". 3.7 Block "Circle" The function block "Circle" contains a Example Program in the form of a simple, circular contour. The robot goes through the following movement profile: Start position of the circular path Circular path Home position of the robot The following table contains the functionalities used for this. Table 3-6: "Circle" function overview Functionality Cancel active and buffered commands. Interrupt active and buffered commands. Continue active and buffered commands. Write individual elements of the structure APO. Bring the robot into a Cartesian position. Move robot on a defined circular path. Function block MC_GroupStop (FB2201) MC_GroupInterrupt (FB2200) MC_GroupContinue (FB2203) MC_DefinePositionVar (FC3) MC_MoveDirectAbsolute (FB2002) MC_MoveCircularAbsolute (FB2006) The basic status is located in the data block "DB_DENSO_POSITIONS" in the following memory cell: DB_DENSO_POSITIONS.Position[1]. Entry-ID: , V1.0, 10/

46 The blocks are called as shown below. Figure 3-45: "Circle" program sequence Circle MC_Group Stop MC_Group Interrupt MC_Group Continue MC_Define PositionVar MC_Define PositionVar MC_Define PositionVar MC_Move Direct Absolute MC_Move Direct Absolute MC_Move Circular Absolute MC_DefinePositionVar With the function "MC_DefinePositionVar" (FC3) individual elements are written into the structure "erc_position". This feature can be used to define Cartesian positions during the running program. Entry-ID: , V1.0, 10/

47 Figure 3-46: Defining Cartesian position in the current program Table 3-7: Inputs of the "MC_DefinePositionVar" function Inputs Description X, Y, Z Position on the axes of the active coordinate system RX, RY, RZ Fig J5 to J8 Rotation around the axes X, Y, Z Additional parameters for unambiguous axis positioning in case of card position presetting (see section 3.5.5) Positions of the optional additional axes J5 to J MC_MoveDirectAbsolute The motion block "MC_MoveDirectAbsolute" (FB2002) moves the robot on an unknown path to a cartesian defined position. This movement block executes a socalled point-to-point (PTP) movement. The robot controller is given a Cartesian target position and the path is not defined further there. The robot controller then calculates how the axes need to be moved in order to be in the specified target position as quickly as possible. Slower axes are moved less and faster axes are used more. Figure 3-47: Moving the robot into the home position Entry-ID: , V1.0, 10/

48 Since the position is Cartesian, the input "Position" expects the data type "erc_position". Table 3-8: Parameters of movement block "MC_MoveDirectAbsolute" Inputs AxesGroup Execute Position Velocity Acceleration Interface Description Index of the axis group (as defined in section 3.4.1) Starts / buffers movement at positive edge. Axis-specific target position: "erc_position". Speed for path movement In % 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives Acceleration for path movement In % 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives Deceleration Deceleration of the path movement in %. 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives CoordSystem Tool and base coordinate systems to which the Cartesian coordinates of the target position refer. Entry-ID: , V1.0, 10/

49 BufferMode Interface Description Mode in which instructions are executed 0: Aborting OP0 Robot brakes at 100% Robot comes to a standstill Next motion command is executed 1: Attaching Robot moves to current target position Robot comes to a standstill Next motion command is executed 6: Overgrinding Robot is approaching the current target position Robot terminates motion command after "TransitionMode". Next motion command is executed 7: Aborting OP1 Robot brakes at 100% Robot does not come to a standstill Next motion command is executed 8: Aborting OP2 Robot decelerates with current braking rate Robot comes to a standstill Next motion command is executed 9: Aborting OP3 Robot decelerates with current braking rate Robot does not come to a standstill Next motion command is executed TransitionMode Relevant when "BufferMode" = 6: Specifies how the target point of a movement is smoothed over. 0: Robot comes to a standstill (Encoder value check Motion (axis coordinate system)) 3: Blending with distance parameters 10: Robot does not come to a standstill 11: Robot comes to a standstill (Encoder value check Motion (Cartesian coordinate system)) Transition parameters Relevant when "TransitionMode" = 3: Distance to the target point in millimeters, the earliest point from which the blending should start. Outputs Done NextActionPermit Busy Active Movement has been completed successfully. Instruction has been completely transferred and confirmed by the robot controller. Function block has not yet been completely executed. Movement is currently being executed. Entry-ID: , V1.0, 10/

50 Interface CommandAborted Error ErrorID ErrorIDEx Description Instruction / movement aborted. Error during execution of the function block. Indicates the origin of the error. 2800: Error in PLC 2801: Error in robot control Error number The assignment to the corresponding error message can be found in the DENSO user manual under "Error Code List". Since the path of a PTP movement is not known, inadequate testing can result in considerable personal injury and material damage. WARNING MC_MoveCircularAbsolute The motion block "MC_MoveCircularAbsolute" (FB2006) moves the robot on a circular path to a Cartesian target position. For the robot controller to calculate the circular path, an auxiliary position must be specified next to the target position. Figure 3-48: Circular movement of the robot Entry-ID: , V1.0, 10/

51 Table 3-9: Parameters of movement block "MC_MoveCircularAbsolute" Inputs AxesGroup Execute AuxPos Interface Description Index of the axis group (as defined in section 3.4.1) Starts / buffers movement at positive edge. Cartesian auxiliary position: "erc_position" EndPos Cartesian target position: " erc_position " Velocity Acceleration Speed for path movement In % 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives Acceleration for path movement In % 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives Deceleration Deceleration of the path movement in %. 0.0 < Value < 100: Specified value is used Value = 0.0: Smallest possible value is used Value = -1.0: Defined default value is used (see section 2.3.2) Value < 0.0 and -1.0: Not allowed, leads to error message and shutdown of robot drives CoordSystem Tool and base coordinate systems to which the Cartesian coordinates of the target position refer. Entry-ID: , V1.0, 10/

52 BufferMode Interface Description Mode in which instructions are executed 0: Aborting OP0 Robot brakes at 100% Robot comes to a standstill Next motion command is executed 1: Attaching Robot moves to current target position Robot comes to a standstill Next motion command is executed 6: Overgrinding Robot is approaching the current target position Robot terminates motion command after "TransitionMode". Next motion command is executed 7: Aborting OP1 Robot brakes at 100% Robot does not come to a standstill Next motion command is executed 8: Aborting OP2 Robot decelerates with current braking rate Robot comes to a standstill Next motion command is executed 9: Aborting OP3 Robot decelerates with current braking rate Robot does not come to a standstill Next motion command is executed TransitionMode Relevant when "BufferMode" = 6: Specifies how the target point of a movement is smoothed over. 0: Robot comes to a standstill (Encoder value check Motion (axis coordinate system)) 3: Blending with distance parameters 10: Robot does not come to a standstill 11: Robot comes to a standstill (Encoder value check Motion (Cartesian coordinate system)) Transition parameters Relevant when "TransitionMode" = 3: Distance to the target point in millimeters, the earliest point from which the blending should start. Outputs Done NextActionPermit Busy Active Movement has been completed successfully. Instruction has been completely transferred and confirmed by the robot controller. Function block has not yet been completely executed. Movement is currently being executed. Entry-ID: , V1.0, 10/

53 Interface CommandAborted Error ErrorID ErrorIDEx Description Instruction / movement aborted. Error during execution of the function block. Indicates the origin of the error. 2800: Error in PLC 2801: Error in robot control Error number The assignment to the corresponding error message can be found in the DENSO user manual under "Error Code List". Entry-ID: , V1.0, 10/

54 3.8 Operation If the HMI is loaded or simulated via Runtime, the following interface opens. Figure 3-49: Start screen of the user interface Status bar and Override The status bar contains basic information about the status of the robot as well as the control of the override. Figure 3-50: Status bar "State" collectively indicates whether there is an error at the robot or the CommandSlave interface. 2. "Power" indicates if the robot is switched on. 3. "Interpreter" indicates whether the robot interpreter is active and waiting for instructions. 4. "Override" shows the currently set value. The buttons on the left and right of the display control the override Control functions The control functions can be used to control administrative functions of the robot. Entry-ID: , V1.0, 10/

55 Figure 3-51: Control functions "Power On" switches on the robot. 2. "Power Off" switches off the robot. 3. "Reset" acknowledges all pending error messages. If an error message is pending, the robot switches off and cannot be switched on again until the error has been acknowledged. 4. "Abort" aborts all active and buffered commands, such as the Example Programs Jogging the robot The robot can be moved in either an axial or Cartesian manner in jog mode. To do this, the corresponding mode must be selected as shown below. Figure 3-52: Axial robot jogging Entry-ID: , V1.0, 10/

56 1. Press one of the two buttons to switch to the corresponding jog mode. "Jog in Axis" moves the robot axially. With "Jog in Base", the robot is moved along the coordinate axes. The inactive mode is greyed out. 2. Use the plus and minus buttons to move the corresponding axis (here A2) in the positive or negative direction. The displayed axis value describes the current axis position. 3. The "TEACH" button saves the current position. The index is defined by "Point No.". When the operation is completed successfully, "Done" lights up. In the event of a fault, "Error" lights up. 4. "Axis Overview" shows the assignment of the axis numbers to the actual axes of the robot arm. The following illustration shows the view for Cartesian jogging. Figure 3-53: Cartesian robot jogging 1 2 Operation is identical to that for axial jogging. 1. Use the plus and minus buttons to move in a positive or negative direction along the corresponding axis. The parameters RZ, RY and RX control the rotation around the respective axes. 2. "Axis Overview" shows the coordinate systems of the robot. Movement occurs in line with the global coordinate system, which is stored in the root of the robot arm. Entry-ID: , V1.0, 10/

57 3.8.4 Example Programs The example programs described in sections 3.6 and 3.7 can be started using the buttons shown below. Figure 3-54: Start Example Programs When one of the buttons is pressed, the entire Example Program is run. 3.9 Error handling In the following section, you will find some typical error cases and solutions to rectify them HMI only shows rhombuses Problem Solution On the user interface, rhombuses are displayed instead of the robot data. The rhombuses indicate that the HMI has no connection to the SIMATIC controller. If you are using a real panel, check whether the PROFINET connection to the panel exists. To do this, first check the cable connection to your SIMATIC controller. If there is no error here, terminate the runtime on the panel and open the system settings. Select "PROFINET" and make sure that the check mark "PROFINET IO enabled" is set. If you use a runtime on your local machine, check whether the PG/PC interface is configured correctly. To do this, select the HMI in the project tree in the TIA Portal and open "Connections". Entry-ID: , V1.0, 10/

58 Figure 3-55: HMI connection Check the configured access point of the HMI. Now open the Windows Control Panel and select "Configure PG/PC Interface". In the window that opens, select the access point in the drop-down menu (here: S7ONLINE) and assign the interface that is connected to the SIMATIC controller. Figure 3-56: Configuring the PG/PC interface Entry-ID: , V1.0, 10/

59 3.9.2 No connection to the robot controller Problem Solution There is no connection to the robot controller. The device is not found via PROFINET. Make sure that all cable connections are correctly seated. The DENSO RC8 has two separate interfaces for connection via Profinet and Ethernet. By default, the robot controller has an Ethernet interface marked "LAN". The Profinet interface is located on an additional plug-in card marked "Profinet" CommandSlave-interface is not initialized Problem Solution The connection to the robot has been established, but the robot cannot be moved. Initialization has not been completed successfully. The block "MC_Initialize" does not send a Done signal. Check whether the hardware IDs of the input and output modules configured in the hardware configuration match the inputs "InAddress" and "OutAddress" of the function blocks "MC_ReadAxesGroup" and "MC_WriteAxesGroup". Entry-ID: , V1.0, 10/

60 4 Additional function 4 Additional function This section is intended to give you a brief overview of additional functions that go beyond the basic control of a DENSO industrial robot using the DENSO Command Slave library. 4.1 Safety Integrated The standard RC8 and the RC8A controller are conform to the performance level PLe / Cat 4, SIL 3. By using the RC8A controller it is possible to purchase the optional MRK functionality Safety Motion. With Safety Motion DENSO provides a by ISO certified interface with the performance level, PLd / Cat 3, SlL2. When integrated into a PLC the safety functions of the robot controller remain in the robot controller and are transmitted safely to an equally safe SPS assembly group to ensure that all safety devices function perfectly. For further information on this topic, please contact DENSO Robotics. 4.2 Diagnostic messages The error outputs of the blocks of the DENSO Command Slave block library output error codes that can be displayed in text form on the HMI operating device using a text list. This text list must be requested separately from DENSO Robotics as it is not automatically supplied with the block library. This text list is maintained in the more extensive application example. Entry-ID: , V1.0, 10/

61 5 Appendix 5 Appendix 5.1 Advanced Example In addition to the basic Application Example described here, there is also a more extensive example. This can currently be requested from Siemens Support. The Advanced Example is designed so that it can be used directly on a real machine because of its functionality. The visualization on the SIMATIC panel accordingly offers significantly more operating options. The following functions, in addition to others, are included in addition to the functions described in the basic example: Table 5-1: Additional functions of the Advanced Example Function More detailed diagnostic data Individual movements Online programming Configuration Error messages Description The status messages on the user interface are more detailed. The robot can move to the desired position via the user interface in either an axial or Cartesian manner. Robot programs can be programmed directly via the user interface. Tool or base coordinate systems as well as load data and software limit switches can be viewed and modified via the user interface. Error codes are output as text messages on the user interface using a text list. Figure 5-1: Start screen of the DENSO Advanced example Entry-ID: , V1.0, 10/