Technical Application Note

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Edwina Bond
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Technical Application Note eplc Connect for SiemensPLC: Step 7 code sample. April 15, 2014 Subject eplc Connect is an interface running on Adept eplc robots or Adept SmartController EX.

1 Technical Application Note eplc Connect for SiemensPLC: Step 7 code sample. April 15, 2014 Subject eplc Connect is an interface running on Adept eplc robots or Adept SmartController EX. eplc connect allows an Allen Bradley or a Siemens PLC to connect to Adept robots. This note describes a simple Siemens Step 7 program running a Pick & Place on an Adept Robot. Applicable Products - Works for eplc Robots with ev+ 2.1 B45 or later - Works for SmartController EX with ev+ 2.1 B45 or later Notes and Procedures Requirements: The following items are required: 1. Adept SmartController with eplc Connect license enabled OR Adept eplc robots. 2. Siemens PLC CPU315 family 3. Step 7 v12 TIA Portal 4. Archive of the example S7_v12_PickPlace_Example.zip Warning: This document is not a tutorial to program Siemens PLC, the reader must have some background in programming Siemens PLC with Ladder logics. This example provides some information on how to connect a Siemens PLC to an Adept Robot controller and proposes one way of moving the robot through eplc. Load the example in step 7 and the PLC: 1. TIA Portal: Project>Retrieve, select S7_v12_PickPlace_Example.zap12. This will open the example workspace as follow:

System function block to communicate with Adept robots Application function block editable and used to run the pick & place Memory allocated for the different structures and function blocks Type

Configure the hardware by double/clicking on Device Configuration under PLC_1 in the workspace (Configuration of the IP address of the PLC, Type of hardware, IO definitions, etc.) 3.

2 System function block to communicate with Adept robots Application function block editable and used to run the pick & place Memory allocated for the different structures and function blocks Type definition, some provided with the Adept_RobotComm Function block, some created for the Pick & Place application Force and watch tables to display all the data necessary to run this application 2. Configure the hardware by double/clicking on Device Configuration under PLC_1 in the workspace (Configuration of the IP address of the PLC, Type of hardware, IO definitions, etc.) 3. Click right on the PLC_1 [CPU PN/DP] in the workspace and compile the project 4. Download all the programs/data in the memory of the PLC Siemens. By clicking Download to Device in the tool bar Getting started: Connection between the PLC and the robot 1. Enable the connection between the PLC and the Adept Robot. This can be done through the Connection Command variable table:

If we take the example of the following robot IP address 172.21.3.

modified values in the PLC memory - Set the bit: Enable Connection 2.

3 If we take the example of the following robot IP address , you need to: - Set 172 in IP_Address[1] - Set 21 in IP_Address[2] - Set 3 in IP_Address[3] - Set 46 in IP_Address[4] - Sent the modified values in the PLC memory - Set the bit: Enable Connection 2. Verify that the PLC is communicating with the robot by opening the Connection Status Variable table: The CONN variable should be true (indicates the communication has been established), and the SR_DONE should blink indicating that the PLC and the robot exchanges data.

4 3. Ladder code to setup the communication between the PLC and the robot. This part of the code is based on the ADEPT_RobotComm provided by Siemens, and can be seen by just double clicking on the System Block OB1 (Main PLC Cycle) - SendRcv input arguments ask for a pulse - ComData provides the necessary information for the connection such as the IP address - DataCommand corresponds to the robot commands to be sent to the Adept Robot - DataStatus corresponds to the robot status sent back by the Adept Robot Getting started: Power up the robot 1. Enable robot power. If the robot is not in error, the robot may power up right after the connection is established. But more often, the robot will be in error when establish the connection. The error needs to be reset. For that, you need to open the Robot Commands and Robot Status variables tables. If the robot is in fault state, setting the cmd_reset will clear this error and the robot will power up indicating a true in the cmd_high_power bit.

5 2. The auto power up after the reset is managed by the following Function block (called in OB1 function block):

Teach bit, then reset it, the current location must appear in the Locations.Pick registers. 3.

6 Getting started: Teaching Pick and place position 1. Open the Pick&Place Example variable table 2. Push ESTOP button of the robot, move the robot to the desired pick position, set the Pick.Teach bit, then reset it, the current location must appear in the Locations.Pick registers. 3. Place the robot in the place position, set Place.Teach and reset it. The place location must appear in the Locations.Place registers 4. The Ladder functional block for teaching position is named Teach Position and is placed in the OB1 system block:

Getting started: Start the pick and place 1. Open up the Pick&Place Example Variable table.

7 Getting started: Set Speed/Acceleration/Deceleration/profiles 1. Open up the Robot Commands Variable table. Set the speed/acceleration/deceleration/profile registers. Getting started: Start the pick and place 1. Open up the Pick&Place Example Variable table. Set the StartCycle bit. The pick & place must start 2. The Cycle must start. 3. Ladder function block for the Pick&Place application called in the OB1 system block

8 Reference Documentation [1] Adept eplc Connect User Guide (P/N: Rev B) [2] SIMATIC FB "ADEPT_RobotComm" (Entry ID: ) [3] ADEPT Robot Control using a SIMATIC S7-300 Controller (Entry ID: )

ADEPT Robot Control using a SIMATIC S7-300 Controller ADEPT_RobotControl Function Block Application Description

Cover sheet ADEPT Robot Control using a SIMATIC S7-300 Controller ADEPT_RobotControl Function Block Application Description August 2013 Applications & Tools Answers for industry. Siemens Industry Online